diff --git "a/MP3D/habitatweb/train/1LXtFkjw3qL.json" "b/MP3D/habitatweb/train/1LXtFkjw3qL.json" new file mode 100644--- /dev/null +++ "b/MP3D/habitatweb/train/1LXtFkjw3qL.json" @@ -0,0 +1,203378 @@ +[ + { + "1LXtFkjw3qL.glb_tv_monitor": [ + { + "position": [ + -3.04617, + 4.44737, + 5.29812 + ], + "radius": null, + "object_id": 6, + "object_name": "2_0_6", + "object_category": "tv_monitor", + "room_id": null, + "room_name": null, + "viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "position": [ + -0.76724, + 1.10509, + 14.2177 + ], + "radius": null, + "object_id": 234, + "object_name": "1_11_234", + "object_category": "tv_monitor", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_185_newN_0", + "observable_viewpoint_ids": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_185_newN_0" + ] + }, + { + "position": [ + -0.70736, + 1.04804, + 14.6933 + ], + "radius": null, + "object_id": 224, + "object_name": "1_10_224", + "object_category": "tv_monitor", + "room_id": null, + "room_name": null, + "viewpoint_id": "ef277969af8e477495075389c3e06da6", + "observable_viewpoint_ids": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "9092fc23426942e1a94b66181a3d0fc7", + "03a8325e3b054e3fad7e1e7091f9d283" + ] + }, + { + "position": [ + -4.04361, + -2.18354, + 17.0875 + ], + "radius": null, + "object_id": 342, + "object_name": "0_16_342", + "object_category": "tv_monitor", + "room_id": null, + "room_name": null, + "viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "observable_viewpoint_ids": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "position": [ + -6.89793, + -2.20081, + 10.8598 + ], + "radius": null, + "object_id": 368, + "object_name": "0_18_368", + "object_category": "tv_monitor", + "room_id": null, + "room_name": null, + "viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "observable_viewpoint_ids": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "all_observation_viewpoint_ids": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "356a6494c8034d6d845f0bba28b8effb", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8d0cc65b2a484591a97b9a8282809f50", + "2754c89e3b2645d598ace5d7878f5d13", + "dba514ffecec43bdb0a247cd898d224b", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "a991b11e3a524fab95a7a98c3ac18ee4", + "60668601cee245e5bb27a12d0b022918", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + } + ], + "1LXtFkjw3qL.glb_bed": [ + { + "position": [ + -0.64168, + 3.68959, + 7.83012 + ], + "radius": null, + "object_id": 7, + "object_name": "2_0_7", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "0f1ba9e425a0452eade2a180cfa41e32", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "position": [ + -0.51605, + 3.97301, + 12.214 + ], + "radius": null, + "object_id": 34, + "object_name": "2_1_34", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_113_newN_1", + "observable_viewpoint_ids": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ] + }, + { + "position": [ + -0.49321, + 3.96175, + 13.4274 + ], + "radius": null, + "object_id": 33, + "object_name": "2_1_33", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "observable_viewpoint_ids": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "position": [ + -2.0732, + -2.62495, + 16.4493 + ], + "radius": null, + "object_id": 337, + "object_name": "0_16_337", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "observable_viewpoint_ids": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "36127c5e30e644799c0f1a1ecd4381ca", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "position": [ + -3.19019, + -2.77602, + 13.6866 + ], + "radius": null, + "object_id": 357, + "object_name": "0_17_357", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "observable_viewpoint_ids": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ] + }, + { + "position": [ + -6.60697, + -2.73714, + 9.09353 + ], + "radius": null, + "object_id": 363, + "object_name": "0_18_363", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "observable_viewpoint_ids": [ + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "980150b99a2946a0894c33df8fb616d2" + ] + }, + { + "position": [ + -4.9377, + -2.66767, + 10.6548 + ], + "radius": null, + "object_id": 372, + "object_name": "0_18_372", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "observable_viewpoint_ids": [ + "2754c89e3b2645d598ace5d7878f5d13", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "position": [ + -4.92027, + -2.62433, + 7.74007 + ], + "radius": null, + "object_id": 380, + "object_name": "0_19_380", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "observable_viewpoint_ids": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868" + ] + }, + { + "position": [ + -4.07469, + -2.16253, + -1.94947 + ], + "radius": null, + "object_id": 538, + "object_name": "0_30_538", + "object_category": "bed", + "room_id": null, + "room_name": null, + "viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "observable_viewpoint_ids": [ + "b0299947a912497ba3e1c8f80181f408", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "126fdbcf213d4d5d95674ccba62fc72b", + "36127c5e30e644799c0f1a1ecd4381ca", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "3adc93014dad46b6879d8d7b6922f02c", + "980150b99a2946a0894c33df8fb616d2", + "e611700e04a24c3dabb73b0b000e5589", + "0f1ba9e425a0452eade2a180cfa41e32", + "60668601cee245e5bb27a12d0b022918", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "356a6494c8034d6d845f0bba28b8effb", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "483b844778c545d899860802e9c5c9d5", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "dba514ffecec43bdb0a247cd898d224b", + "de87c39b7dd046bda1f0819c53670338", + "a991b11e3a524fab95a7a98c3ac18ee4", + "30cf3312b4f647b8bf50970f2b894aac", + "91b54e8895bf4d63922b5ef7ea839d4c", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b0299947a912497ba3e1c8f80181f408", + "2754c89e3b2645d598ace5d7878f5d13", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "0_edge_142_newN_0", + "e10d6b636ed94caa87771f92b1251868" + ] + } + ], + "1LXtFkjw3qL.glb_table": [ + { + "position": [ + -1.12461, + 0.15972, + 5.68763 + ], + "radius": null, + "object_id": 253, + "object_name": "1_11_253", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_65_newN_1", + "observable_viewpoint_ids": [ + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_55_newN_1", + "fc4462fb87874bc8b6d77e45806168df" + ] + }, + { + "position": [ + 1.75171, + 0.44266, + 12.373 + ], + "radius": null, + "object_id": 242, + "object_name": "1_11_242", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "8072791758d146aba5ff98920a81fa0c", + "observable_viewpoint_ids": [ + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_245_newN_1", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "c7b097de55f242fa8bdd795d3945637d", + "24df7bedfc814d7e9bd610171c862f7a", + "40eda297975f4648bbc301ff98940fcf" + ] + }, + { + "position": [ + -2.07137, + 1.23978, + 1.2594 + ], + "radius": null, + "object_id": 145, + "object_name": "1_6_145", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "observable_viewpoint_ids": [ + "76c9116d417849c6be0f37a8b353e0d8", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "9167f8d20b954ccf97b09d33762cf4d5", + "0_edge_168_newN_0", + "0_edge_131_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "position": [ + -0.78293, + 0.43981, + 14.9326 + ], + "radius": null, + "object_id": 213, + "object_name": "1_10_213", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "ef277969af8e477495075389c3e06da6", + "observable_viewpoint_ids": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "c687ee4d80bc453d905d501b347675b8", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "position": [ + -2.35114, + 3.86234, + 5.34002 + ], + "radius": null, + "object_id": 15, + "object_name": "2_0_15", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "observable_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "position": [ + -3.1668, + 3.56423, + 7.66742 + ], + "radius": null, + "object_id": 11, + "object_name": "2_0_11", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "position": [ + -5.57783, + 0.62859, + 9.89558 + ], + "radius": null, + "object_id": 98, + "object_name": "1_5_98", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_0", + "observable_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "9d0091e93633403c910577b4221e353c", + "0_edge_128_newN_0", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_223_newN_0", + "c238ad68f9b443a5b3fc41a4a561363f", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ] + }, + { + "position": [ + -7.01454, + -2.82599, + 15.8491 + ], + "radius": null, + "object_id": 345, + "object_name": "0_16_345", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "observable_viewpoint_ids": [ + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "position": [ + -4.81288, + -2.55857, + 11.6414 + ], + "radius": null, + "object_id": 351, + "object_name": "0_17_351", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_153_newN_1", + "observable_viewpoint_ids": [ + "0_edge_153_newN_0", + "de87c39b7dd046bda1f0819c53670338", + "a991b11e3a524fab95a7a98c3ac18ee4", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ] + }, + { + "position": [ + -6.57402, + -2.69088, + 13.2989 + ], + "radius": null, + "object_id": 354, + "object_name": "0_17_354", + "object_category": "table", + "room_id": null, + "room_name": null, + "viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "observable_viewpoint_ids": [ + "de87c39b7dd046bda1f0819c53670338", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_65_newN_1", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_90_newN_0", + "0_edge_55_newN_1", + "0_edge_223_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "87f68627d919449995ed93f6ae72e6ab", + "0f1ba9e425a0452eade2a180cfa41e32", + "03a8325e3b054e3fad7e1e7091f9d283", + "356a6494c8034d6d845f0bba28b8effb", + "76c9116d417849c6be0f37a8b353e0d8", + "0_edge_245_newN_1", + "ef277969af8e477495075389c3e06da6", + "8e1fa462cea64696aa723bbfbdb1b21e", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_168_newN_0", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "8072791758d146aba5ff98920a81fa0c", + "c3fe2f1211cf4bce8458006b7f174010", + "fc4462fb87874bc8b6d77e45806168df", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "4cac488dae6a442289ce32fd0b6a42fe", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "7ce4382def52411ba706d50d2377447b", + "0_edge_128_newN_0", + "9092fc23426942e1a94b66181a3d0fc7", + "c238ad68f9b443a5b3fc41a4a561363f", + "de87c39b7dd046bda1f0819c53670338", + "a991b11e3a524fab95a7a98c3ac18ee4", + "7d01dee740ef4288b111dc65f449ca22", + "24df7bedfc814d7e9bd610171c862f7a", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "1e649cc84c9043b69e2367b7d5aeecf2", + "75bea3b92c924203951655b393e92979", + "c687ee4d80bc453d905d501b347675b8", + "6ab39d830183407cb7ec17206889000d", + "9167f8d20b954ccf97b09d33762cf4d5", + "0_edge_131_newN_0" + ] + } + ], + "1LXtFkjw3qL.glb_cushion": [ + { + "position": [ + 0.38384, + 0.57075, + 7.61871 + ], + "radius": null, + "object_id": 243, + "object_name": "1_11_243", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_190_newN_1", + "observable_viewpoint_ids": [ + "0_edge_190_newN_0", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_65_newN_1", + "0_edge_190_newN_1", + "0_edge_55_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_65_newN_0", + "0_edge_55_newN_1" + ] + }, + { + "position": [ + -0.93085, + 0.64347, + 10.8989 + ], + "radius": null, + "object_id": 230, + "object_name": "1_11_230", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "observable_viewpoint_ids": [ + "649a58719cd7455ebe18675c9719dfa7", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_245_newN_1", + "0_edge_186_newN_0", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "position": [ + -2.58891, + 0.59152, + 7.594 + ], + "radius": null, + "object_id": 237, + "object_name": "1_11_237", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_80_newN_1", + "observable_viewpoint_ids": [ + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3" + ] + }, + { + "position": [ + -0.15864, + 3.86818, + 8.25156 + ], + "radius": null, + "object_id": 16, + "object_name": "2_0_16", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "0f1ba9e425a0452eade2a180cfa41e32", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "position": [ + -1.09895, + 3.88313, + 8.24377 + ], + "radius": null, + "object_id": 12, + "object_name": "2_0_12", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "0f1ba9e425a0452eade2a180cfa41e32", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "position": [ + -2.96051, + 3.72724, + 8.0794 + ], + "radius": null, + "object_id": 23, + "object_name": "2_0_23", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "position": [ + -2.65633, + -2.44509, + 16.6577 + ], + "radius": null, + "object_id": 335, + "object_name": "0_16_335", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "observable_viewpoint_ids": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "position": [ + -2.44317, + -2.43874, + 16.3139 + ], + "radius": null, + "object_id": 339, + "object_name": "0_16_339", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "observable_viewpoint_ids": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "position": [ + -6.51928, + -2.5244, + 9.12569 + ], + "radius": null, + "object_id": 376, + "object_name": "0_18_376", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "observable_viewpoint_ids": [ + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "position": [ + -3.50745, + -1.83998, + -1.80755 + ], + "radius": null, + "object_id": 544, + "object_name": "0_30_544", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "observable_viewpoint_ids": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "position": [ + -3.30335, + -1.85492, + -2.02787 + ], + "radius": null, + "object_id": 547, + "object_name": "0_30_547", + "object_category": "cushion", + "room_id": null, + "room_name": null, + "viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "observable_viewpoint_ids": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_190_newN_0", + "0_edge_65_newN_1", + "0_edge_55_newN_0", + "126fdbcf213d4d5d95674ccba62fc72b", + "0_edge_55_newN_1", + "0f1ba9e425a0452eade2a180cfa41e32", + "60668601cee245e5bb27a12d0b022918", + "707a59ada1bc4b4f90638ddfa809ebd5", + "356a6494c8034d6d845f0bba28b8effb", + "0_edge_245_newN_1", + "0_edge_195_newN_3", + "8072791758d146aba5ff98920a81fa0c", + "fc4462fb87874bc8b6d77e45806168df", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_190_newN_1", + "0_edge_113_newN_1", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_113_newN_0", + "dba514ffecec43bdb0a247cd898d224b", + "7ce4382def52411ba706d50d2377447b", + "0_edge_186_newN_0", + "30cf3312b4f647b8bf50970f2b894aac", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "c5f2bf41ad33497a925bead423cbfb19", + "649a58719cd7455ebe18675c9719dfa7", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "2754c89e3b2645d598ace5d7878f5d13", + "1e649cc84c9043b69e2367b7d5aeecf2", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "0_edge_65_newN_0" + ] + } + ], + "1LXtFkjw3qL.glb_seating": [ + { + "position": [ + -1.12828, + 3.89227, + 3.83114 + ], + "radius": null, + "object_id": 68, + "object_name": "2_4_68", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "observable_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab", + "e60f96413bf448889377affdd919ba35" + ] + }, + { + "position": [ + -3.49931, + 3.47312, + 6.18927 + ], + "radius": null, + "object_id": 28, + "object_name": "2_0_28", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "observable_viewpoint_ids": [ + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "position": [ + -3.484, + 3.47971, + 9.09201 + ], + "radius": null, + "object_id": 27, + "object_name": "2_0_27", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "observable_viewpoint_ids": [ + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "position": [ + -3.41246, + 0.20067, + 16.5907 + ], + "radius": null, + "object_id": 211, + "object_name": "1_10_211", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "observable_viewpoint_ids": [ + "8d0cc65b2a484591a97b9a8282809f50", + "d8ce438c0ca246748186b48d3ac3eb50", + "03a8325e3b054e3fad7e1e7091f9d283" + ] + }, + { + "position": [ + -5.46227, + -2.72891, + 16.9241 + ], + "radius": null, + "object_id": 331, + "object_name": "0_16_331", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "observable_viewpoint_ids": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "position": [ + -2.48846, + -2.87049, + 10.075 + ], + "radius": null, + "object_id": 379, + "object_name": "0_18_379", + "object_category": "seating", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_142_newN_0", + "observable_viewpoint_ids": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2" + ] + }, + { + "all_observation_viewpoint_ids": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "d8ce438c0ca246748186b48d3ac3eb50", + "356a6494c8034d6d845f0bba28b8effb", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "8d0cc65b2a484591a97b9a8282809f50", + "dba514ffecec43bdb0a247cd898d224b", + "e60f96413bf448889377affdd919ba35", + "0_edge_181_newN_1", + "0_edge_142_newN_0", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "980150b99a2946a0894c33df8fb616d2", + "87f68627d919449995ed93f6ae72e6ab", + "0f1ba9e425a0452eade2a180cfa41e32" + ] + } + ], + "1LXtFkjw3qL.glb_bathtub": [ + { + "position": [ + 0.4359, + -2.72687, + 16.7981 + ], + "radius": null, + "object_id": 311, + "object_name": "0_15_311", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "observable_viewpoint_ids": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "position": [ + -2.72711, + 3.87242, + 15.9977 + ], + "radius": null, + "object_id": 42, + "object_name": "2_2_42", + "object_category": "bathtub", + "room_id": null, + "room_name": null, + "viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "observable_viewpoint_ids": [ + "67d9b711455f43db8e5270016d4bd873", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "all_observation_viewpoint_ids": [ + "74bbacaafe014759bb9a6cc694d72516", + "9f604c054f8f4a0da5778d3c0b36575d", + "36127c5e30e644799c0f1a1ecd4381ca", + "67d9b711455f43db8e5270016d4bd873", + "483b844778c545d899860802e9c5c9d5" + ] + } + ], + "1LXtFkjw3qL.glb_cabinet": [ + { + "position": [ + -0.00927, + 0.50787, + 15.7775 + ], + "radius": null, + "object_id": 216, + "object_name": "1_10_216", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "ef277969af8e477495075389c3e06da6", + "observable_viewpoint_ids": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "9092fc23426942e1a94b66181a3d0fc7", + "03a8325e3b054e3fad7e1e7091f9d283" + ] + }, + { + "position": [ + -0.93773, + 1.45698, + -3.82155 + ], + "radius": null, + "object_id": 122, + "object_name": "1_6_122", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "observable_viewpoint_ids": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "position": [ + -1.20117, + 3.69228, + 4.8673 + ], + "radius": null, + "object_id": 84, + "object_name": "2_4_84", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "observable_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "position": [ + -0.92728, + 3.93751, + 15.4201 + ], + "radius": null, + "object_id": 48, + "object_name": "2_2_48", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "observable_viewpoint_ids": [ + "67d9b711455f43db8e5270016d4bd873", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "position": [ + -5.21946, + -1.71959, + 14.7105 + ], + "radius": null, + "object_id": 329, + "object_name": "0_16_329", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "observable_viewpoint_ids": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "position": [ + -2.91822, + -2.01751, + 11.0015 + ], + "radius": null, + "object_id": 367, + "object_name": "0_18_367", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_153_newN_0", + "observable_viewpoint_ids": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_181_newN_1", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ] + }, + { + "position": [ + -3.14065, + -2.12151, + 7.93291 + ], + "radius": null, + "object_id": 383, + "object_name": "0_19_383", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_142_newN_0", + "observable_viewpoint_ids": [ + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ] + }, + { + "position": [ + 1.56487, + -1.79599, + -2.21645 + ], + "radius": null, + "object_id": 486, + "object_name": "0_26_486", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "5908a457f37a470aa0e8cd389f31d438", + "observable_viewpoint_ids": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "position": [ + -2.1523, + -1.56337, + -1.71468 + ], + "radius": null, + "object_id": 534, + "object_name": "0_30_534", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "observable_viewpoint_ids": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "position": [ + -2.23238, + -2.0587, + -3.94871 + ], + "radius": null, + "object_id": 537, + "object_name": "0_30_537", + "object_category": "cabinet", + "room_id": null, + "room_name": null, + "viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "observable_viewpoint_ids": [ + "b0299947a912497ba3e1c8f80181f408", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "all_observation_viewpoint_ids": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "126fdbcf213d4d5d95674ccba62fc72b", + "0b302846f0994ec9851862b1d317d7f2", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "87f68627d919449995ed93f6ae72e6ab", + "03a8325e3b054e3fad7e1e7091f9d283", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_196_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "ddb93f6063d54365bc6e8c751fd2e698", + "ef277969af8e477495075389c3e06da6", + "483b844778c545d899860802e9c5c9d5", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "dba514ffecec43bdb0a247cd898d224b", + "99fa48d974fa43988f369b0e5766b36e", + "9092fc23426942e1a94b66181a3d0fc7", + "f3d9a22621e14992b8b3fb9776f0395b", + "30cf3312b4f647b8bf50970f2b894aac", + "297c3ab529204fafb3ddf80e6efeec7f", + "5908a457f37a470aa0e8cd389f31d438", + "0_edge_153_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "2754c89e3b2645d598ace5d7878f5d13", + "75bea3b92c924203951655b393e92979", + "67d9b711455f43db8e5270016d4bd873", + "0_edge_142_newN_0" + ] + } + ], + "1LXtFkjw3qL.glb_sink": [ + { + "position": [ + -0.34201, + 1.50821, + -3.75535 + ], + "radius": null, + "object_id": 156, + "object_name": "1_6_156", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "observable_viewpoint_ids": [ + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "position": [ + -0.72354, + 4.39721, + 15.4207 + ], + "radius": null, + "object_id": 56, + "object_name": "2_3_56", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "observable_viewpoint_ids": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "position": [ + 1.56045, + -2.39256, + 15.4374 + ], + "radius": null, + "object_id": 309, + "object_name": "0_15_309", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "observable_viewpoint_ids": [ + "0_edge_160_newN_0", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c" + ] + }, + { + "position": [ + 0.69448, + -2.2184, + 5.48955 + ], + "radius": null, + "object_id": 419, + "object_name": "0_21_419", + "object_category": "sink", + "room_id": null, + "room_name": null, + "viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "observable_viewpoint_ids": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632" + ] + }, + { + "all_observation_viewpoint_ids": [ + "74bbacaafe014759bb9a6cc694d72516", + "9f604c054f8f4a0da5778d3c0b36575d", + "0_edge_160_newN_0", + "36127c5e30e644799c0f1a1ecd4381ca", + "ddb93f6063d54365bc6e8c751fd2e698", + "67d9b711455f43db8e5270016d4bd873", + "d7ec37565be24b1ca1d4f99c34fc1632", + "4b77e304d83943999198c3cd4457512c", + "d962509cdba64e6ca76a6228582eb901" + ] + } + ], + "1LXtFkjw3qL.glb_toilet": [ + { + "position": [ + -0.06353, + 3.75454, + 15.6408 + ], + "radius": null, + "object_id": 60, + "object_name": "2_3_60", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "e611700e04a24c3dabb73b0b000e5589", + "observable_viewpoint_ids": [ + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "position": [ + 1.34788, + -2.79977, + 5.88686 + ], + "radius": null, + "object_id": 417, + "object_name": "0_21_417", + "object_category": "toilet", + "room_id": null, + "room_name": null, + "viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "observable_viewpoint_ids": [ + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "all_observation_viewpoint_ids": [ + "d962509cdba64e6ca76a6228582eb901", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + } + ], + "1LXtFkjw3qL.glb_clothes": [ + { + "position": [ + -1.62052, + 4.62218, + 4.87589 + ], + "radius": null, + "object_id": 81, + "object_name": "2_4_81", + "object_category": "clothes", + "room_id": null, + "room_name": null, + "viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "observable_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "position": [ + -1.59588, + 4.69838, + 4.73762 + ], + "radius": null, + "object_id": 80, + "object_name": "2_4_80", + "object_category": "clothes", + "room_id": null, + "room_name": null, + "viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "observable_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "all_observation_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab" + ] + } + ], + "1LXtFkjw3qL.glb_towel": [ + { + "position": [ + -1.33981, + 4.13284, + 4.84182 + ], + "radius": null, + "object_id": 85, + "object_name": "2_4_85", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "observable_viewpoint_ids": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "position": [ + -0.13571, + 4.34152, + 3.4003 + ], + "radius": null, + "object_id": 87, + "object_name": "2_4_87", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "e60f96413bf448889377affdd919ba35", + "observable_viewpoint_ids": [ + "e60f96413bf448889377affdd919ba35" + ] + }, + { + "position": [ + 0.05081, + -2.52095, + 16.5014 + ], + "radius": null, + "object_id": 315, + "object_name": "0_15_315", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "observable_viewpoint_ids": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "position": [ + 0.37055, + -2.52706, + 16.4968 + ], + "radius": null, + "object_id": 320, + "object_name": "0_15_320", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "observable_viewpoint_ids": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "position": [ + 0.43862, + -2.5047, + 5.43354 + ], + "radius": null, + "object_id": 415, + "object_name": "0_21_415", + "object_category": "towel", + "room_id": null, + "room_name": null, + "viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "observable_viewpoint_ids": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632" + ] + }, + { + "all_observation_viewpoint_ids": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "75bea3b92c924203951655b393e92979", + "e60f96413bf448889377affdd919ba35", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "87f68627d919449995ed93f6ae72e6ab" + ] + } + ], + "1LXtFkjw3qL.glb_chair": [ + { + "position": [ + -1.8003, + 1.05617, + 0.30872 + ], + "radius": null, + "object_id": 119, + "object_name": "1_6_119", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "observable_viewpoint_ids": [ + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_168_newN_0", + "0_edge_131_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "position": [ + -1.69519, + 1.05882, + 1.25024 + ], + "radius": null, + "object_id": 147, + "object_name": "1_6_147", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "observable_viewpoint_ids": [ + "0_edge_131_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "position": [ + -2.30138, + 1.05333, + 0.4627 + ], + "radius": null, + "object_id": 124, + "object_name": "1_6_124", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "observable_viewpoint_ids": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_168_newN_0", + "0_edge_131_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "position": [ + -1.66461, + 1.05048, + 2.18617 + ], + "radius": null, + "object_id": 133, + "object_name": "1_6_133", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "observable_viewpoint_ids": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ] + }, + { + "position": [ + -2.36397, + 1.06231, + 1.23534 + ], + "radius": null, + "object_id": 146, + "object_name": "1_6_146", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "observable_viewpoint_ids": [ + "76c9116d417849c6be0f37a8b353e0d8", + "6ab39d830183407cb7ec17206889000d", + "9167f8d20b954ccf97b09d33762cf4d5", + "0_edge_168_newN_0", + "0_edge_131_newN_0" + ] + }, + { + "position": [ + -2.55755, + 1.06846, + 2.13884 + ], + "radius": null, + "object_id": 148, + "object_name": "1_6_148", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "observable_viewpoint_ids": [ + "6ab39d830183407cb7ec17206889000d", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5" + ] + }, + { + "position": [ + -4.37209, + 1.05097, + -2.71415 + ], + "radius": null, + "object_id": 127, + "object_name": "1_6_127", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "observable_viewpoint_ids": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0" + ] + }, + { + "position": [ + 0.24374, + 0.37718, + 7.6001 + ], + "radius": null, + "object_id": 239, + "object_name": "1_11_239", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_55_newN_0", + "observable_viewpoint_ids": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_0", + "0_edge_65_newN_1", + "0_edge_190_newN_1", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_0", + "0_edge_55_newN_1", + "24df7bedfc814d7e9bd610171c862f7a" + ] + }, + { + "position": [ + -2.47816, + 0.39504, + 7.60139 + ], + "radius": null, + "object_id": 233, + "object_name": "1_11_233", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_80_newN_1", + "observable_viewpoint_ids": [ + "0_edge_65_newN_1", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_55_newN_0", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_65_newN_0", + "fc4462fb87874bc8b6d77e45806168df" + ] + }, + { + "position": [ + -5.29098, + 0.62544, + 9.62887 + ], + "radius": null, + "object_id": 94, + "object_name": "1_5_94", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_128_newN_0", + "observable_viewpoint_ids": [ + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_128_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ] + }, + { + "position": [ + -5.7988, + 0.5859, + 9.68668 + ], + "radius": null, + "object_id": 100, + "object_name": "1_5_100", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "2b4fc2765e164775bb82e0aaf1d0d65d", + "observable_viewpoint_ids": [ + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_128_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ] + }, + { + "position": [ + -5.28928, + 0.65246, + 10.2128 + ], + "radius": null, + "object_id": 113, + "object_name": "1_5_113", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_128_newN_0", + "observable_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_128_newN_1" + ] + }, + { + "position": [ + -5.78228, + 0.64111, + 10.1781 + ], + "radius": null, + "object_id": 101, + "object_name": "1_5_101", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_90_newN_0", + "observable_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ] + }, + { + "position": [ + -0.67436, + 0.55023, + 15.5144 + ], + "radius": null, + "object_id": 214, + "object_name": "1_10_214", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "ef277969af8e477495075389c3e06da6", + "observable_viewpoint_ids": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "position": [ + -5.29349, + 0.42833, + 16.2269 + ], + "radius": null, + "object_id": 115, + "object_name": "1_5_115", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "observable_viewpoint_ids": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e" + ] + }, + { + "position": [ + -6.34652, + 0.41902, + 16.2185 + ], + "radius": null, + "object_id": 102, + "object_name": "1_5_102", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_164_newN_1", + "observable_viewpoint_ids": [ + "0_edge_164_newN_0", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e" + ] + }, + { + "position": [ + -3.50929, + -2.64446, + 14.729 + ], + "radius": null, + "object_id": 333, + "object_name": "0_16_333", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "observable_viewpoint_ids": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "position": [ + -6.32733, + -2.56734, + 12.5558 + ], + "radius": null, + "object_id": 350, + "object_name": "0_17_350", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "a991b11e3a524fab95a7a98c3ac18ee4", + "observable_viewpoint_ids": [ + "de87c39b7dd046bda1f0819c53670338", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1" + ] + }, + { + "position": [ + -6.43585, + -2.59904, + 13.5338 + ], + "radius": null, + "object_id": 355, + "object_name": "0_17_355", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "observable_viewpoint_ids": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "de87c39b7dd046bda1f0819c53670338", + "0_edge_153_newN_1" + ] + }, + { + "position": [ + -6.5115, + -2.62572, + 6.03483 + ], + "radius": null, + "object_id": 389, + "object_name": "0_19_389", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "observable_viewpoint_ids": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868" + ] + }, + { + "position": [ + -2.01449, + -2.67347, + 6.73462 + ], + "radius": null, + "object_id": 391, + "object_name": "0_19_391", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "99fa48d974fa43988f369b0e5766b36e", + "observable_viewpoint_ids": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "0_edge_208_newN_0" + ] + }, + { + "position": [ + -1.57153, + -2.65821, + 7.61041 + ], + "radius": null, + "object_id": 410, + "object_name": "0_20_410", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_181_newN_0", + "observable_viewpoint_ids": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "0_edge_208_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "e345211511824219a62f1b8d639c477e", + "0_edge_208_newN_0" + ] + }, + { + "position": [ + -1.61896, + -2.66095, + 6.74952 + ], + "radius": null, + "object_id": 411, + "object_name": "0_20_411", + "object_category": "chair", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_208_newN_0", + "observable_viewpoint_ids": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_1", + "0_edge_181_newN_0", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "0_edge_208_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_190_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_65_newN_1", + "0_edge_55_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_90_newN_0", + "0_edge_181_newN_1", + "0_edge_55_newN_1", + "0_edge_223_newN_0", + "e345211511824219a62f1b8d639c477e", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_208_newN_0", + "60668601cee245e5bb27a12d0b022918", + "707a59ada1bc4b4f90638ddfa809ebd5", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "76c9116d417849c6be0f37a8b353e0d8", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0_edge_195_newN_3", + "8e1fa462cea64696aa723bbfbdb1b21e", + "a872e012dec3414a8624f6ebda4b752c", + "ef277969af8e477495075389c3e06da6", + "0_edge_168_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "fc4462fb87874bc8b6d77e45806168df", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "0_edge_164_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_190_newN_1", + "0_edge_208_newN_1", + "0_edge_181_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "dba514ffecec43bdb0a247cd898d224b", + "7ce4382def52411ba706d50d2377447b", + "0_edge_128_newN_0", + "99fa48d974fa43988f369b0e5766b36e", + "de87c39b7dd046bda1f0819c53670338", + "a991b11e3a524fab95a7a98c3ac18ee4", + "7d01dee740ef4288b111dc65f449ca22", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_153_newN_1", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_1", + "95064dc2001c4f64b0ccc9ab9702e35e", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_65_newN_0", + "6ab39d830183407cb7ec17206889000d", + "9167f8d20b954ccf97b09d33762cf4d5", + "e10d6b636ed94caa87771f92b1251868", + "d7ec37565be24b1ca1d4f99c34fc1632", + "0_edge_131_newN_0" + ] + } + ], + "1LXtFkjw3qL.glb_stool": [ + { + "position": [ + -3.33418, + -2.33221, + -4.07792 + ], + "radius": null, + "object_id": 549, + "object_name": "0_30_549", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "observable_viewpoint_ids": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "position": [ + -5.61336, + 0.5768, + 9.02034 + ], + "radius": null, + "object_id": 109, + "object_name": "1_5_109", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_128_newN_1", + "observable_viewpoint_ids": [ + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_90_newN_0", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_0", + "c238ad68f9b443a5b3fc41a4a561363f", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ] + }, + { + "position": [ + -5.56918, + 0.42922, + 10.7858 + ], + "radius": null, + "object_id": 114, + "object_name": "1_5_114", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "c1b7a383f8474e7d951ebea82bb82818", + "observable_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d" + ] + }, + { + "position": [ + -3.46721, + 0.22722, + 12.1265 + ], + "radius": null, + "object_id": 254, + "object_name": "1_11_254", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "observable_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_185_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_128_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "80f652ffcdfa47ada388a00233624799" + ] + }, + { + "position": [ + -3.45898, + 0.2215, + 10.5473 + ], + "radius": null, + "object_id": 255, + "object_name": "1_11_255", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "observable_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_128_newN_0", + "0_edge_186_newN_0", + "7d01dee740ef4288b111dc65f449ca22" + ] + }, + { + "position": [ + -3.48256, + 0.24024, + 7.56558 + ], + "radius": null, + "object_id": 256, + "object_name": "1_11_256", + "object_category": "stool", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_80_newN_1", + "observable_viewpoint_ids": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "fc94c2a0445640028200b2f96e1fe90c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_128_newN_1", + "fc4462fb87874bc8b6d77e45806168df" + ] + }, + { + "all_observation_viewpoint_ids": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "126fdbcf213d4d5d95674ccba62fc72b", + "0_edge_90_newN_0", + "0_edge_223_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0_edge_195_newN_3", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "fc4462fb87874bc8b6d77e45806168df", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "7ce4382def52411ba706d50d2377447b", + "0_edge_128_newN_0", + "0_edge_186_newN_0", + "c238ad68f9b443a5b3fc41a4a561363f", + "30cf3312b4f647b8bf50970f2b894aac", + "7d01dee740ef4288b111dc65f449ca22", + "c687ee4d80bc453d905d501b347675b8" + ] + } + ], + "1LXtFkjw3qL.glb_plant": [ + { + "position": [ + -4.87108, + 1.15943, + -1.29019 + ], + "radius": null, + "object_id": 118, + "object_name": "1_6_118", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "observable_viewpoint_ids": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0" + ] + }, + { + "position": [ + 0.36113, + 1.943, + -1.6294 + ], + "radius": null, + "object_id": 151, + "object_name": "1_6_151", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "observable_viewpoint_ids": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "position": [ + 2.30426, + 0.38512, + 8.99813 + ], + "radius": null, + "object_id": 275, + "object_name": "1_12_275", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "observable_viewpoint_ids": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_190_newN_1", + "0_edge_245_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "24df7bedfc814d7e9bd610171c862f7a" + ] + }, + { + "position": [ + 1.67124, + 0.38622, + 9.0724 + ], + "radius": null, + "object_id": 245, + "object_name": "1_11_245", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "24df7bedfc814d7e9bd610171c862f7a", + "observable_viewpoint_ids": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_190_newN_1", + "0_edge_245_newN_1", + "e3de486699144933aada2e59873d5984", + "8072791758d146aba5ff98920a81fa0c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "24df7bedfc814d7e9bd610171c862f7a" + ] + }, + { + "position": [ + 1.77509, + 1.12423, + 16.1174 + ], + "radius": null, + "object_id": 208, + "object_name": "1_10_208", + "object_category": "plant", + "room_id": null, + "room_name": null, + "viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "observable_viewpoint_ids": [ + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "all_observation_viewpoint_ids": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_190_newN_1", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "e0f025c0baa94beba57ea499e3d846c5", + "ddb93f6063d54365bc6e8c751fd2e698", + "0_edge_245_newN_1", + "ef277969af8e477495075389c3e06da6", + "e3de486699144933aada2e59873d5984", + "0_edge_168_newN_0", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_131_newN_1", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "24df7bedfc814d7e9bd610171c862f7a", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + } + ], + "1LXtFkjw3qL.glb_counter": [ + { + "position": [ + -0.65546, + 1.16251, + -1.68666 + ], + "radius": null, + "object_id": 143, + "object_name": "1_6_143", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "observable_viewpoint_ids": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "ddb93f6063d54365bc6e8c751fd2e698", + "8e1fa462cea64696aa723bbfbdb1b21e", + "0_edge_168_newN_0", + "0_edge_131_newN_1", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "position": [ + -0.5059, + 1.57908, + -3.84712 + ], + "radius": null, + "object_id": 149, + "object_name": "1_6_149", + "object_category": "counter", + "room_id": null, + "room_name": null, + "viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "observable_viewpoint_ids": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "all_observation_viewpoint_ids": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "ddb93f6063d54365bc6e8c751fd2e698", + "8e1fa462cea64696aa723bbfbdb1b21e", + "0_edge_168_newN_0", + "0_edge_131_newN_1", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + } + ], + "1LXtFkjw3qL.glb_picture": [ + { + "position": [ + 0.91826, + 5.03534, + 3.9013 + ], + "radius": null, + "object_id": 190, + "object_name": "1_8_190", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "observable_viewpoint_ids": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "position": [ + 3.96057, + 1.19638, + 9.82782 + ], + "radius": null, + "object_id": 274, + "object_name": "1_12_274", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "observable_viewpoint_ids": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ] + }, + { + "position": [ + 2.98065, + 1.54363, + 14.2983 + ], + "radius": null, + "object_id": 295, + "object_name": "1_14_295", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "observable_viewpoint_ids": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf" + ] + }, + { + "position": [ + -5.40804, + -1.54375, + 17.1093 + ], + "radius": null, + "object_id": 330, + "object_name": "0_16_330", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "observable_viewpoint_ids": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "position": [ + -6.12229, + -1.36242, + 11.218 + ], + "radius": null, + "object_id": 375, + "object_name": "0_18_375", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "c1b7a383f8474e7d951ebea82bb82818", + "observable_viewpoint_ids": [ + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "position": [ + -6.68752, + -1.96623, + 8.16769 + ], + "radius": null, + "object_id": 387, + "object_name": "0_19_387", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "observable_viewpoint_ids": [ + "e10d6b636ed94caa87771f92b1251868" + ] + }, + { + "position": [ + 0.76533, + -0.98215, + 1.70007 + ], + "radius": null, + "object_id": 463, + "object_name": "0_25_463", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "3264da900f47425c8c062f909db9abe0", + "observable_viewpoint_ids": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "e5bfa9c293cd44e1b14953500462dd72" + ] + }, + { + "position": [ + -0.96408, + -1.61483, + 1.46105 + ], + "radius": null, + "object_id": 466, + "object_name": "0_25_466", + "object_category": "picture", + "room_id": null, + "room_name": null, + "viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "observable_viewpoint_ids": [ + "751a95287d8e487eac608776f5e3a546", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "751a95287d8e487eac608776f5e3a546", + "0993008242df4171b26c1bf92ff5e845", + "571d716b0cdd430d99c63474c34f0c9c", + "2754c89e3b2645d598ace5d7878f5d13", + "dba514ffecec43bdb0a247cd898d224b", + "e60f96413bf448889377affdd919ba35", + "0_edge_233_newN_1", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "e10d6b636ed94caa87771f92b1251868", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf" + ] + } + ], + "1LXtFkjw3qL.glb_sofa": [ + { + "position": [ + -0.91394, + 0.40702, + 11.3835 + ], + "radius": null, + "object_id": 231, + "object_name": "1_11_231", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "observable_viewpoint_ids": [ + "0_edge_185_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_245_newN_1", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "position": [ + -3.91606, + -2.05906, + -0.98654 + ], + "radius": null, + "object_id": 529, + "object_name": "0_29_529", + "object_category": "sofa", + "room_id": null, + "room_name": null, + "viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "observable_viewpoint_ids": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "126fdbcf213d4d5d95674ccba62fc72b", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_0", + "ae407deab28949e8b8daede6749be158" + ] + }, + { + "all_observation_viewpoint_ids": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_185_newN_0", + "126fdbcf213d4d5d95674ccba62fc72b", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "649a58719cd7455ebe18675c9719dfa7", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_245_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_186_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_233_newN_0", + "8072791758d146aba5ff98920a81fa0c", + "ae407deab28949e8b8daede6749be158" + ] + } + ], + "1LXtFkjw3qL.glb_shower": [ + { + "position": [ + 1.01947, + -1.96733, + 12.4464 + ], + "radius": null, + "object_id": 314, + "object_name": "0_15_314", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "d5839b78130944da925af878f4e64970", + "observable_viewpoint_ids": [ + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "position": [ + 1.65665, + -0.99576, + -3.67056 + ], + "radius": null, + "object_id": 488, + "object_name": "0_26_488", + "object_category": "shower", + "room_id": null, + "room_name": null, + "viewpoint_id": "7b99fad7a2b243dea6b50dc65d03fbc7", + "observable_viewpoint_ids": [ + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_160_newN_0", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "d5839b78130944da925af878f4e64970" + ] + } + ], + "1LXtFkjw3qL.glb_chest_of_drawers": [ + { + "position": [ + -4.95325, + -2.174, + -3.71293 + ], + "radius": null, + "object_id": 542, + "object_name": "0_30_542", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "observable_viewpoint_ids": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "position": [ + -2.62186, + -2.84898, + 12.8038 + ], + "radius": null, + "object_id": 358, + "object_name": "0_17_358", + "object_category": "chest_of_drawers", + "room_id": null, + "room_name": null, + "viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "observable_viewpoint_ids": [ + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_0" + ] + }, + { + "all_observation_viewpoint_ids": [ + "0_edge_153_newN_0", + "126fdbcf213d4d5d95674ccba62fc72b", + "9a10d725e7334967a8ca89b2a61c446e", + "30cf3312b4f647b8bf50970f2b894aac", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + } + ], + "1LXtFkjw3qL.glb_gym_equipment": [ + { + "position": [ + -2.07089, + -2.14524, + 1.44544 + ], + "radius": null, + "object_id": 516, + "object_name": "0_29_516", + "object_category": "gym_equipment", + "room_id": null, + "room_name": null, + "viewpoint_id": "0_edge_233_newN_1", + "observable_viewpoint_ids": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "751a95287d8e487eac608776f5e3a546", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_1" + ] + }, + { + "position": [ + -1.31349, + -1.85335, + 2.34385 + ], + "radius": null, + "object_id": 524, + "object_name": "0_29_524", + "object_category": "gym_equipment", + "room_id": null, + "room_name": null, + "viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "observable_viewpoint_ids": [ + "751a95287d8e487eac608776f5e3a546", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_1" + ] + }, + { + "all_observation_viewpoint_ids": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "751a95287d8e487eac608776f5e3a546", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_1" + ] + } + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TPZPLC3M2F8Q79KTKTUVPKFEEA3P0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.43742, + -2.84178, + 7.15821 + ], + "start_rotation": [ + 0, + 0.85646, + 0, + 0.51621 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.10187, + "euclidean_distance": 6.44872, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.86695, + -2.91559, + 11.73118 + ] + }, + "scene_dataset": null, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "3107120d425e424dacedb73bf44e9094", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3DEL4X4EL8OEFJ8Z4WW1FW2VPEJYXU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.09895, + 0.08441, + 12.69627 + ], + "start_rotation": [ + 0, + 0.23297, + 0, + -0.97248 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.44348, + "euclidean_distance": 6.35907, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.87466, + 0.08441, + 14.86685 + ] + }, + "scene_dataset": null, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_190_newN_0", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "A19317A3X87NVM:3EQHHY4HQUV5R93P4KR0GD47RIU5G2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.05998, + 0.08441, + 13.52453 + ], + "start_rotation": [ + 0, + 0.66206, + 0, + 0.74945 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.15023, + "euclidean_distance": 16.41273, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.21948, + 0.68441, + -2.96422 + ] + }, + "scene_dataset": null, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3F1567XTNY8F5LZFA69TM7DBJ2UQ9J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.29993, + 0.08441, + 9.92561 + ], + "start_rotation": [ + 0, + 0.99504, + 0, + -0.09945 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.07812, + "euclidean_distance": 5.78756, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.60772, + 3.48441, + 5.55786 + ] + }, + "scene_dataset": null, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3R6BYFZZP9F8FSR4Z64DQBVFJ26FXP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.42104, + 0.08441, + 14.78839 + ], + "start_rotation": [ + 0, + 0.99522, + 0, + 0.09768 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.84219, + "euclidean_distance": 10.55066, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55228, + 3.48441, + 5.59815 + ] + }, + "scene_dataset": null, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_164_newN_0", + "path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "0_edge_223_newN_0", + "c238ad68f9b443a5b3fc41a4a561363f", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "0_edge_223_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3YMTUJH0DUJR0VLVAF7XA4DIHG74T5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.99464, + 0.68441, + 0.59002 + ], + "start_rotation": [ + 0, + 0.59039, + 0, + -0.80712 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 22.33879, + "euclidean_distance": 15.62856, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.88356, + 3.48441, + 14.85884 + ] + }, + "scene_dataset": null, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3PXX5PX6LZ166Y7VJUQ3NDTW3KPBAL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.04651, + 0.08441, + 6.07707 + ], + "start_rotation": [ + 0, + 0.60386, + 0, + -0.79709 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.82745, + "euclidean_distance": 8.3723, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.9494, + 0.08441, + 14.23253 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:337RC3OW0752BVW5L26TX33E0NALVN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.19463, + 0.08441, + 8.92653 + ], + "start_rotation": [ + 0, + 0.78486, + 0, + -0.61968 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.16546, + "euclidean_distance": 1.9939, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.48932, + 0.08441, + 7.7832 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_65_newN_0" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3180JW2OT6FFIBTQCQC3DQWNJB55J2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.62375, + 0.08441, + 7.19798 + ], + "start_rotation": [ + 0, + 0.47935, + 0, + 0.87763 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.39856, + "euclidean_distance": 6.31759, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.43025, + 3.48441, + 5.68516 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3VNL7UK1XHM1YBIKUW3G18A967AFT0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.64525, + -2.91559, + 15.32092 + ], + "start_rotation": [ + 0, + 0.85307, + 0, + 0.52179 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.93032, + "euclidean_distance": 5.20362, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.40816, + -2.91559, + 15.54243 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3HVVDCPGTGV7Y2ZFZMV4QTHPCIYTY9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.14357, + -2.31559, + -0.05071 + ], + "start_rotation": [ + 0, + 0.84095, + 0, + 0.54112 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.38722, + "euclidean_distance": 8.74363, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.61653, + -2.91559, + 8.71468 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3S06PH7KST73R7SF17OG72OT2BUD15", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.80534, + -2.91559, + 6.92307 + ], + "start_rotation": [ + 0, + 0.62387, + 0, + 0.78153 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 10.21583, + "euclidean_distance": 8.2994, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.80131, + -2.31559, + 0.24502 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3XUHV3NRVM1JR5Y0OQ9I1DG86JDH5L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.93803, + 0.08441, + 7.99458 + ], + "start_rotation": [ + 0, + 0.57747, + 0, + -0.81641 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.21975, + "euclidean_distance": 10.53167, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.04096, + 0.68441, + -2.13404 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:358UUM7WR16B33QM8O09D1WAKX4R73", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.64615, + 0.08441, + 8.92735 + ], + "start_rotation": [ + 0, + 1, + 0, + 0.00191 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 14.1708, + "euclidean_distance": 12.32732, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.20016, + 0.68441, + -2.93844 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3IXQG4FA2V1S1FXQROC3RIICX2A9B7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.12046, + -2.31559, + -2.81821 + ], + "start_rotation": [ + 0, + 0.69624, + 0, + 0.71781 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.72509, + "euclidean_distance": 2.98777, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77363, + -2.31559, + -3.43188 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PM8NZGV80J56HHDDMF72AZTQ4EQXT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.57484, + 0.08441, + 8.01132 + ], + "start_rotation": [ + 0, + 0.98906, + 0, + 0.14752 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.70059, + "euclidean_distance": 7.7259, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00638, + 3.48441, + 14.785 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3JV9LGBJWVHRZJ979ZNZPJ4Y8EUOGN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.04322, + 0.68441, + -0.7979 + ], + "start_rotation": [ + 0, + 0.93769, + 0, + -0.34747 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 13.79503, + "euclidean_distance": 7.55619, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69173, + 3.48441, + 5.43403 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3YMTUJH0DUJR0VLVAF7XA4DIHG74T5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.99464, + 0.68441, + 0.59002 + ], + "start_rotation": [ + 0, + 0.59039, + 0, + -0.80712 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 22.33879, + "euclidean_distance": 15.62856, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.88356, + 3.48441, + 14.85884 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3WEV0KO0OOV3LRR9EQ3033B2SBZDSH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.53941, + -2.31559, + 1.69584 + ], + "start_rotation": [ + 0, + 0.56885, + 0, + 0.82244 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.92705, + "euclidean_distance": 6.28655, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.71728, + -2.31559, + -2.93572 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3TEM0PF1Q703KI7X5OKGTX5JXJH0DI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.01492, + -2.91559, + 7.06498 + ], + "start_rotation": [ + 0, + 0.85027, + 0, + 0.52635 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.42798, + "euclidean_distance": 6.2948, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7536, + -2.91559, + 13.29792 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "de68d1221d1749b392aff06c48512cf0", + "path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TPZPLC3M2F8Q79KTKTUVPKFEEA3P0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.43742, + -2.84178, + 7.15821 + ], + "start_rotation": [ + 0, + 0.85646, + 0, + 0.51621 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.10187, + "euclidean_distance": 6.44872, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.86695, + -2.91559, + 11.73118 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "3107120d425e424dacedb73bf44e9094", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3TXD01ZLD6K6080KAKX7F0ZK0UE4UW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.0332, + 0.68441, + 1.97563 + ], + "start_rotation": [ + 0, + 0.83542, + 0, + 0.54961 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.84887, + "euclidean_distance": 8.215, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.97065, + 0.08441, + 10.05447 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3KOPY89HMA5C4W6MY7OAYTY35EPJ3Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.38223, + -2.82144, + 4.20048 + ], + "start_rotation": [ + 0, + 0.57489, + 0, + -0.81823 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.85069, + "euclidean_distance": 2.4523, + "closest_goal_object_id": 383, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.74102, + -2.91559, + 6.04483 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3LEP4MGT3I3445A734H5DE12ONEDBH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.34409, + -2.31559, + -0.34937 + ], + "start_rotation": [ + 0, + 0.69818, + 0, + -0.71592 + ], + "object_category": "table", + "info": { + "geodesic_distance": 14.47865, + "euclidean_distance": 12.23416, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.91959, + -2.91559, + 11.95004 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A24O1IMBZ03FEK:3JV9LGBJWVHRZJ979ZNZPJ4Y8E5GOQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.86655, + -2.91559, + 6.90919 + ], + "start_rotation": [ + 0, + 0.5663, + 0, + -0.8242 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.03335, + "euclidean_distance": 5.36703, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.92514, + -2.91559, + 11.98248 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_208_newN_0", + "path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A1JI19KPIVNL3Y:3KAKFY4PGW5G9LMGGP3AMSJ3S0FI33", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.38879, + 0.08441, + 15.84793 + ], + "start_rotation": [ + 0, + 0.48159, + 0, + -0.87639 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 25.0664, + "euclidean_distance": 14.06063, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.27675, + 3.48441, + 3.29817 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3PJ71Z61R65ROHFYPRJEL653BPM91P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.33936, + -2.91559, + 13.56244 + ], + "start_rotation": [ + 0, + 0.97983, + 0, + 0.19984 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 15.68267, + "euclidean_distance": 14.01197, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.88356, + -2.31559, + 0.31728 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A302KOFOYLD89A:30LB5CDZNED6NJCTX69DKPOML06Z0T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.57555, + 3.5637, + 6.97029 + ], + "start_rotation": [ + 0, + 0.17065, + 0, + 0.98533 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.31637, + "euclidean_distance": 8.49069, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75944, + 0.68441, + -0.76551 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3ZPBJO59KR4EVIDT3WR1ZP40JZADHM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.70405, + 0.08441, + 5.82125 + ], + "start_rotation": [ + 0, + 0.72539, + 0, + 0.68834 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.36953, + "euclidean_distance": 8.97695, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.28942, + 3.48441, + 3.28419 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "3bbffb39570649958d7147a0099ccb48" + ], + "0927e4d3dc3e4c8590fd3f7dc512a130", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3YGXWBAF72KAEEJKOTC7LUDETUZ4CE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.06487, + 3.48441, + 16.95399 + ], + "start_rotation": [ + 0, + 0.90544, + 0, + -0.42447 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.67745, + "euclidean_distance": 7.89884, + "closest_goal_object_id": 12, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.93525, + 3.48486, + 9.25304 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37M28K1J0SGCOH577M3KL1C9BPIAJP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.16542, + 0.08441, + 7.68426 + ], + "start_rotation": [ + 0, + 0.99473, + 0, + -0.10257 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.43823, + "euclidean_distance": 8.87065, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.8835, + 0.08441, + 15.06464 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3B2X28YI3YI5JWVSTH9R78RA70GB6A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.76342, + 0.08441, + 6.43303 + ], + "start_rotation": [ + 0, + 0.93229, + 0, + 0.36172 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.90394, + "euclidean_distance": 8.48614, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45795, + 3.48441, + 14.04513 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "649a58719cd7455ebe18675c9719dfa7", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EFVCAY5L5CY5TCSAOJ6PA6EL0F8JE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.80259, + 0.08441, + 9.96116 + ], + "start_rotation": [ + 0, + 0.20658, + 0, + 0.97843 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.29773, + "euclidean_distance": 12.65846, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.03477, + 0.68441, + -2.11035 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3B2X28YI3YI5JWVSTH9R78RA7106BR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.61642, + 3.48441, + 9.28682 + ], + "start_rotation": [ + 0, + 0.48763, + 0, + 0.87305 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.28942, + "euclidean_distance": 5.89944, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.59001, + 3.48441, + 15.09401 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3LWJHTCVCEPO6VQSDS9LW3ZMMZJFQS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.60338, + -2.91559, + 13.30712 + ], + "start_rotation": [ + 0, + 0.94477, + 0, + 0.32774 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.86926, + "euclidean_distance": 13.72226, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.62972, + -2.31559, + -0.16206 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3BDCF01OGZXJFPRAQDTD4278I53YL2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.24414, + 0.08441, + 13.64372 + ], + "start_rotation": [ + 0, + 0.84549, + 0, + -0.534 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.47405, + "euclidean_distance": 13.43442, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.19867, + 0.68441, + 0.30691 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "80f652ffcdfa47ada388a00233624799", + "path": [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3EO896NRAYYH3D4GDMU1G621ZE0TJQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.49459, + 0.08441, + 13.16926 + ], + "start_rotation": [ + 0, + 0.99318, + 0, + -0.11662 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.89206, + "euclidean_distance": 2.65995, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.04117, + 0.08441, + 15.78838 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3SB5N7Y3O576W2HO7ELOZI8GABG0GB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.61856, + 0.08441, + 9.35529 + ], + "start_rotation": [ + 0, + 0.97508, + 0, + 0.22187 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.51861, + "euclidean_distance": 4.84325, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.54965, + 3.49625, + 6.12887 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3NPI0JQDAQ8DPO7E8ZZLD2OD8CYPTC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.12996, + -2.23636, + 1.5121 + ], + "start_rotation": [ + 0, + 0.96442, + 0, + 0.26437 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.01534, + "euclidean_distance": 4.41509, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.76319, + -2.31559, + -2.29525 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3Z2R0DQ0JJHF8YOBG6ZEI3GJUSR2EK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.42534, + 0.68441, + -1.84203 + ], + "start_rotation": [ + 0, + 0.99882, + 0, + -0.0486 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.51993, + "euclidean_distance": 16.17204, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.40523, + 3.48441, + 13.93956 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3Z9WI9EOZ1RM9OJ3VDDO32ZQ389HK5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.01841, + -2.91559, + 8.06891 + ], + "start_rotation": [ + 0, + 0.99528, + 0, + -0.09705 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.17741, + "euclidean_distance": 1.17741, + "closest_goal_object_id": 367, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.42252, + -2.91559, + 9.25179 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_181_newN_0", + "path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "refined_path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3R6BYFZZP9F8FSR4Z64DQBVFJ26FXP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.42104, + 0.08441, + 14.78839 + ], + "start_rotation": [ + 0, + 0.99522, + 0, + 0.09768 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.84219, + "euclidean_distance": 10.55066, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55228, + 3.48441, + 5.59815 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_164_newN_0", + "path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "0_edge_223_newN_0", + "c238ad68f9b443a5b3fc41a4a561363f", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "0_edge_223_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3OVR4I9USRME8FT3TBD25Z2VX94Q49", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.89926, + 3.66054, + 12.93017 + ], + "start_rotation": [ + 0, + 0.54077, + 0, + -0.84117 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.68536, + "euclidean_distance": 13.55818, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49208, + 0.68441, + -0.28337 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3Y4W8Q93L1NJDJ8D8L85EQV9RFZVDA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.32727, + -2.91559, + 16.28773 + ], + "start_rotation": [ + 0, + 0.48398, + 0, + 0.87508 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.97072, + "euclidean_distance": 6.70501, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7589, + -2.91559, + 13.37867 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3QEMNNSB2Z2H2T7HQN5P8CF65WAD7G", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.39997, + 3.5708, + 8.45726 + ], + "start_rotation": [ + 0, + 0.85907, + 0, + 0.51185 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.62425, + "euclidean_distance": 7.14258, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.94803, + 3.48441, + 14.60971 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3II4UPYCOLAR8BCWMMEV83W1ANBQD2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.222, + -2.31559, + 1.67991 + ], + "start_rotation": [ + 0, + 0.3086, + 0, + 0.95119 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.82597, + "euclidean_distance": 6.06642, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.51706, + -2.31559, + -3.04767 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3G2UL9A02FHIHKS2G0XB265EOAM76H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.98335, + 0.08441, + 8.14118 + ], + "start_rotation": [ + 0, + 0.50579, + 0, + 0.86266 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 12.10288, + "euclidean_distance": 11.51127, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.52015, + 0.68441, + -3.03427 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "a872e012dec3414a8624f6ebda4b752c", + "path": [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34V1S5K3GU4MV3GVVXVVG2WKJ0B96W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.03207, + 3.55801, + 6.93828 + ], + "start_rotation": [ + 0, + 0.7082, + 0, + -0.70601 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.73861, + "euclidean_distance": 8.14121, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.80561, + 0.68441, + -0.67849 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3X65QVEQI2Q6CMQ5ULBO7BFPFHFCL2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.35996, + -2.31559, + -1.59357 + ], + "start_rotation": [ + 0, + 0.9257, + 0, + 0.37826 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 1.82192, + "euclidean_distance": 1.72642, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.79218, + -2.31559, + 0.08348 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_196_newN_1", + "path": [ + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3R2PKQ87NYBHV7UQM78PIRS9SREIM1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.08806, + 0.08441, + 13.25817 + ], + "start_rotation": [ + 0, + 0.53175, + 0, + 0.8469 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.27502, + "euclidean_distance": 4.02714, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.12319, + 0.08441, + 10.7695 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8" + ], + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3I3WADAZ9S7TJMKNS348LMD9I4FO52", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.6837, + 0.08441, + 11.74549 + ], + "start_rotation": [ + 0, + 0.90963, + 0, + -0.41542 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.85932, + "euclidean_distance": 7.60812, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.45233, + 0.08441, + 7.30672 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3AUQQEL7U7WPEZ7JW9KAZJBQXQR0VN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.11983, + 0.08441, + 10.81965 + ], + "start_rotation": [ + 0, + 0.51752, + 0, + -0.85567 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.80309, + "euclidean_distance": 5.9888, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.3003, + 0.08441, + 8.41921 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_190_newN_0", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3A4TN5196ML4QQ7F30WQFJMIYZMCH9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.11998, + 0.08441, + 12.32862 + ], + "start_rotation": [ + 0, + 0.5678, + 0, + 0.82317 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.58131, + "euclidean_distance": 10.08692, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67995, + 3.48441, + 5.43436 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "3ffabcbad5894c6e8f03f54453a1e2e9", + "path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818" + ], + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AONSG5WOC3OX0:3JCG6DTRV5TLXKG1R8KF8230T1WQQ1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.39974, + 0.08441, + 16.61079 + ], + "start_rotation": [ + 0, + 0.82051, + 0, + -0.57163 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 27.88256, + "euclidean_distance": 11.80464, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76297, + 3.48441, + 5.38622 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3ZV9H2YQQFAYAG6L567PNJSB7B43WM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.15158, + 0.68441, + 1.28752 + ], + "start_rotation": [ + 0, + 0.94748, + 0, + -0.31982 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.99223, + "euclidean_distance": 5.74801, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.51344, + 3.48863, + 5.75871 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3V0Z7YWSI03WA9AXBWOOI745UNS2VO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.82831, + -2.91559, + 13.13839 + ], + "start_rotation": [ + 0, + 0.08385, + 0, + 0.99648 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 16.52026, + "euclidean_distance": 12.94727, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.74113, + -2.31559, + 0.29187 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3SB4CE2TJXYDJ1AWOQILCAKOMNNXAQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.86618, + 0.68441, + -0.85174 + ], + "start_rotation": [ + 0, + 0.60699, + 0, + 0.79471 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 11.57109, + "euclidean_distance": 8.1842, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.54677, + 3.49811, + 6.14668 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VNXK88KKEL7ATVWW533SUCJ0UE9V1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.22781, + 0.68441, + 1.45487 + ], + "start_rotation": [ + 0, + 0.96101, + 0, + 0.27651 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.29426, + "euclidean_distance": 4.33268, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.22997, + 0.68441, + -2.89143 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3OLQQLKKNUSFEUMJNR56HK20W4NJE0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.58016, + -2.91559, + 12.28123 + ], + "start_rotation": [ + 0, + 0.2837, + 0, + -0.95891 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.67581, + "euclidean_distance": 8.36913, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.03158, + -2.91559, + 6.16818 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:31EUONYN2X6AHGZ2YUMLPK78VTCVOD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07541, + 0.08441, + 6.04026 + ], + "start_rotation": [ + 0, + 0.01533, + 0, + -0.99988 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.57794, + "euclidean_distance": 3.79666, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.50984, + 3.48556, + 5.72532 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "1e649cc84c9043b69e2367b7d5aeecf2", + "path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:34J10VATJH18GMSIE0F6Z0CE2R1QIK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.11191, + 0.08441, + 14.05368 + ], + "start_rotation": [ + 0, + 0.32148, + 0, + 0.94692 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.67999, + "euclidean_distance": 14.80631, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.79295, + 0.68441, + -0.44971 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "7a663a2787474bc2b09a4e8b21325141", + "path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3DL65MZB8FIS6GGDDZOKUGP56KNCEO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.23222, + -2.91559, + 6.50042 + ], + "start_rotation": [ + 0, + 0.07739, + 0, + -0.997 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.32966, + "euclidean_distance": 5.78534, + "closest_goal_object_id": 376, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -5.29803, + -2.91559, + 9.35554 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "path": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:30OG32W0SWEBXKD42PXYARJH5OSENZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.70256, + -2.31559, + 0.39694 + ], + "start_rotation": [ + 0, + 0.84552, + 0, + 0.53394 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 5.15433, + "euclidean_distance": 3.80958, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.12573, + -2.31559, + -3.32231 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:38SKSKU7R30XPPC5MV7AIEDKSMZILA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.18298, + -2.31559, + -3.02135 + ], + "start_rotation": [ + 0, + 0.76584, + 0, + 0.64303 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.35615, + "euclidean_distance": 11.71635, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.77002, + -2.91559, + 8.66759 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A19317A3X87NVM:32AT8R96GNCP2T2V0LTPD3FQEB9SUL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.3576, + -2.91559, + 9.21825 + ], + "start_rotation": [ + 0, + 0.9224, + 0, + 0.38623 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.92931, + "euclidean_distance": 7.46166, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32257, + -2.91559, + 15.48774 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3VZLGYJEYNDEK9I40IYKT3BXV89XZ6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.57138, + 0.08441, + 12.96529 + ], + "start_rotation": [ + 0, + 0.97937, + 0, + -0.2021 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.70287, + "euclidean_distance": 7.74589, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43216, + 3.50716, + 6.19434 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3DHE4R9OCYEDSCK2M1P2I61V79H2GE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.26138, + -2.91559, + 15.83508 + ], + "start_rotation": [ + 0, + 0.7756, + 0, + 0.63122 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.72045, + "euclidean_distance": 3.52218, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.82636, + -2.91559, + 16.03397 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "36127c5e30e644799c0f1a1ecd4381ca", + "path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3ZPBJO59KR4EVIDT3WR1ZP40J0QDH4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.18577, + 0.68441, + 0.79036 + ], + "start_rotation": [ + 0, + 0.19951, + 0, + -0.9799 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.30961, + "euclidean_distance": 13.71938, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.44678, + 3.4936, + 13.92874 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3WR9XG3T65E42XOOXC4W58L0SKT74B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.01695, + 3.48441, + 5.54562 + ], + "start_rotation": [ + 0, + 0.64118, + 0, + -0.76739 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 9.79355, + "euclidean_distance": 9.13868, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35662, + 3.48441, + 13.97687 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "425e120b2d7742b1a8f0902355908761", + "path": [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3BF51CHDTXDKWYCZRK36KIKHPAW0HB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.34659, + 0.08441, + 13.83753 + ], + "start_rotation": [ + 0, + 0.95059, + 0, + 0.31045 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.34787, + "euclidean_distance": 9.14225, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71707, + 3.48441, + 5.36269 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3KMS4QQVK4T2VSSX0NPO0HNDNUYFK9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.31161, + 0.08441, + 13.73815 + ], + "start_rotation": [ + 0, + 0.72492, + 0, + 0.68883 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.35787, + "euclidean_distance": 14.54753, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.72378, + 0.68441, + -0.39861 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "7a663a2787474bc2b09a4e8b21325141", + "path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:31Q0U3WYDRINAYR5AULU7AEXG0317C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.36369, + -2.91559, + 15.15246 + ], + "start_rotation": [ + 0, + 0.2463, + 0, + 0.96919 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.83538, + "euclidean_distance": 3.55713, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75178, + -2.91559, + 13.34393 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3F1567XTNY8F5LZFA69TM7DBJ2UQ9J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.29993, + 0.08441, + 9.92561 + ], + "start_rotation": [ + 0, + 0.99504, + 0, + -0.09945 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.07812, + "euclidean_distance": 5.78756, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.60772, + 3.48441, + 5.55786 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3W92K5RLWWKO96TKTFQMGE7HEY35VE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.85578, + -2.51559, + 13.50354 + ], + "start_rotation": [ + 0, + 0.93525, + 0, + -0.35398 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.54736, + "euclidean_distance": 3.56851, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.80634, + -2.91559, + 13.31987 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:38F5OAUN5PFYE9CJCJOFZXU4XPY7HG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.20142, + 0.08441, + 6.13247 + ], + "start_rotation": [ + 0, + 0.91862, + 0, + 0.39513 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.40862, + "euclidean_distance": 3.7875, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.58813, + 3.4872, + 6.05212 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:37UEWGM5HVBXSHBKJ8J0CR5XHCS1R6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.15307, + -2.91559, + 16.94163 + ], + "start_rotation": [ + 0, + 0.98173, + 0, + 0.19028 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.96118, + "euclidean_distance": 8.63452, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75526, + -2.91559, + 13.39947 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:39ZSFO5CAAZW3QJ5DRKBL2O3ISXUJ8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.28452, + 0.08441, + 5.87289 + ], + "start_rotation": [ + 0, + 0.72857, + 0, + -0.68497 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 19.16187, + "euclidean_distance": 4.98813, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.68635, + 3.48441, + 5.47783 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3YJ6NA41JDJJBLB9W5LHBW14AA6JP0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.70472, + 0.08441, + 15.29575 + ], + "start_rotation": [ + 0, + 0.30606, + 0, + -0.95201 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.15918, + "euclidean_distance": 11.03318, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76231, + 3.48441, + 5.4392 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:374TNBHA8DYU6M7NII19LO62SA2QYT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.8607, + 0.08441, + 9.84954 + ], + "start_rotation": [ + 0, + 0.9724, + 0, + 0.23332 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.37691, + "euclidean_distance": 10.44181, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.0737, + 0.68441, + -0.16318 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "40eda297975f4648bbc301ff98940fcf", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:35H6S234SC33UGEJS7IE4MRIX5P560", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.97319, + 0.08441, + 8.54765 + ], + "start_rotation": [ + 0, + 0.82745, + 0, + -0.56154 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.45888, + "euclidean_distance": 1.3525, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.78105, + 0.08441, + 7.93933 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3KXIR214I6JXGWRIR0N19H4SH4R24A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.76576, + 3.66522, + 10.78726 + ], + "start_rotation": [ + 0, + 0.39707, + 0, + -0.91779 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.39262, + "euclidean_distance": 5.10133, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.92228, + 3.49032, + 5.7128 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3AWETUDC94VHUET91WYJQTOI7V2IZO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.98836, + 3.57542, + 10.52583 + ], + "start_rotation": [ + 0, + 0.98632, + 0, + 0.16484 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.65471, + "euclidean_distance": 11.24196, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.34338, + 0.68441, + -0.26302 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3II4UPYCOLAR8BCWMMEV83W1AOPDQ5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.83624, + -2.91559, + 6.28187 + ], + "start_rotation": [ + 0, + 0.59685, + 0, + 0.80236 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.36456, + "euclidean_distance": 6.17858, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.89259, + -2.91559, + 11.71482 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3OWEPKL08BFQO5YUFHJS4HR0J0A7NQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.88072, + 0.68441, + -3.05924 + ], + "start_rotation": [ + 0, + 0.30296, + 0, + -0.953 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.66518, + "euclidean_distance": 10.70511, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.64526, + 3.59651, + 7.17992 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3NLZY2D53RSA6N0OZ3CJRG46JW9LQ9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.08565, + -2.31559, + -1.29933 + ], + "start_rotation": [ + 0, + 0.86112, + 0, + -0.50839 + ], + "object_category": "table", + "info": { + "geodesic_distance": 14.2994, + "euclidean_distance": 13.4761, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.01274, + -2.91559, + 11.89403 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "a55a46bc13e743ca8626a97ac056b8f3", + "path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3DEL4X4EL8OEFJ8Z4WW1FW2VPEJYXU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.09895, + 0.08441, + 12.69627 + ], + "start_rotation": [ + 0, + 0.23297, + 0, + -0.97248 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.44348, + "euclidean_distance": 6.35907, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.87466, + 0.08441, + 14.86685 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_190_newN_0", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:36V4Q8R5ZM3UC5I9ZFDYRTJVJ1IQMZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.19159, + 0.08441, + 11.29987 + ], + "start_rotation": [ + 0, + 0.75234, + 0, + 0.65877 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 20.51608, + "euclidean_distance": 10.15867, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.28997, + 3.48441, + 3.45437 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:31Q0U3WYDRINAYR5AULU7AEXGZY71B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.00711, + 0.68441, + 0.89868 + ], + "start_rotation": [ + 0, + 0.71664, + 0, + -0.69744 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.55023, + "euclidean_distance": 4.27526, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.3493, + 0.68441, + -3.05896 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A16K7X677N4WN6:35L9RVQFCQL0CKOFPRHQ9P8O5ZSHUN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.38536, + 0.08441, + 10.48305 + ], + "start_rotation": [ + 0, + 0.78773, + 0, + 0.61602 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.6334, + "euclidean_distance": 1.32782, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.03293, + 0.08441, + 10.00095 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3FDJT1UU76BATVZ8UBCFE5W0Y0FK5Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.24134, + 0.08441, + 6.32949 + ], + "start_rotation": [ + 0, + 0.04508, + 0, + 0.99898 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 19.6116, + "euclidean_distance": 5.02501, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.72428, + 3.48441, + 5.49998 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3E4GGUZ1TAUIUYGLCSAHGYTOEQY2KH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.88717, + 0.08441, + 4.29478 + ], + "start_rotation": [ + 0, + 0.90259, + 0, + 0.4305 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.04987, + "euclidean_distance": 2.5888, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.95211, + 0.68441, + 2.42778 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:35K3O9HUADGZ9S0N41EL2MA83XDFE0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.61599, + 0.08441, + 9.80565 + ], + "start_rotation": [ + 0, + 0.42422, + 0, + -0.90556 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.20933, + "euclidean_distance": 10.32172, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.01193, + 0.68441, + -0.19982 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A3JYC7C2BS2MXQ:3FE2ERCCZZBXCW26CIDMJSIQ95VPO6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.96692, + -2.31559, + 1.43104 + ], + "start_rotation": [ + 0, + 0.59733, + 0, + -0.80199 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.78934, + "euclidean_distance": 4.59125, + "closest_goal_object_id": 419, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.18837, + -2.91559, + 5.04292 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A19317A3X87NVM:3EQHHY4HQUV5R93P4KR0GD47RIU5G2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.05998, + 0.08441, + 13.52453 + ], + "start_rotation": [ + 0, + 0.66206, + 0, + 0.74945 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.15023, + "euclidean_distance": 16.41273, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.21948, + 0.68441, + -2.96422 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:32SCWG5HIJ77NQW2CMRS2SWZO4KP6Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.29978, + 0.08441, + 15.22491 + ], + "start_rotation": [ + 0, + 0.91919, + 0, + 0.39383 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.66504, + "euclidean_distance": 2.53295, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.72422, + 0.08441, + 12.79913 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:30IQTZXKAM9HIOCEWOLSN48BD100XR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.71996, + 0.08441, + 13.06225 + ], + "start_rotation": [ + 0, + 0.34733, + 0, + -0.93774 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 25.67499, + "euclidean_distance": 8.38556, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.42795, + 3.50049, + 6.12528 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3K4J6M3CXGW2XFF6ZGIHOOKTJW2GAQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.82816, + 3.68441, + 11.69572 + ], + "start_rotation": [ + 0, + 0.85664, + 0, + 0.51591 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 25.04461, + "euclidean_distance": 7.07137, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.321, + 0.08441, + 6.18126 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ] + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3OCHAWUVGQNJVEJI0HVA6ONKRZ7XKV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.40162, + 3.57826, + 10.99734 + ], + "start_rotation": [ + 0, + 0.92362, + 0, + -0.3833 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.5825, + "euclidean_distance": 5.03374, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.57756, + 3.48441, + 15.13788 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3YOH7BII0BARRPEN02USI3QZBN5VKU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.99573, + 3.57216, + 6.31871 + ], + "start_rotation": [ + 0, + 0.74679, + 0, + 0.66506 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.61173, + "euclidean_distance": 8.46606, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.57563, + 0.8122, + -0.32993 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3X1FV8S5JZUMP3I4AB9DKBY647OVGT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.82545, + -2.91559, + 15.38523 + ], + "start_rotation": [ + 0, + 0.96217, + 0, + -0.27246 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.68265, + "euclidean_distance": 3.02587, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.94549, + -2.91559, + 14.75761 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "path": [ + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4" + ], + "refined_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:35GMH2SV3GKTF5DG34XBPGJMVYCOE3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.73399, + -2.31559, + 1.63069 + ], + "start_rotation": [ + 0, + 0.97596, + 0, + -0.21796 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.65666, + "euclidean_distance": 14.6258, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.3453, + -2.91559, + 15.61889 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3PB5A5BD0X9KEDH8SD6XEXI3IORG7U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.53944, + -2.91559, + 5.93419 + ], + "start_rotation": [ + 0, + 0.45111, + 0, + -0.89247 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.94206, + "euclidean_distance": 4.32413, + "closest_goal_object_id": 376, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -5.30667, + -2.91559, + 9.2527 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "99fa48d974fa43988f369b0e5766b36e", + "path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3R0T90IZ1UFQQUC4JUE8UJAHJ0DCGG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.03324, + -2.91559, + 13.67227 + ], + "start_rotation": [ + 0, + 0.99747, + 0, + 0.07102 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.148, + "euclidean_distance": 7.63859, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.05223, + -2.91559, + 6.08488 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3KWTYT08726LD1HQFBOGT59FNZ95L1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.43334, + -2.91559, + 12.01053 + ], + "start_rotation": [ + 0, + 0.97784, + 0, + 0.20933 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.47455, + "euclidean_distance": 1.7229, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74764, + -2.91559, + 13.48966 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "3107120d425e424dacedb73bf44e9094", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:3H8DHMCCWBE5X8E19HUYCHKSBH9KDU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.59778, + 0.08441, + 8.28077 + ], + "start_rotation": [ + 0, + 0.73219, + 0, + 0.6811 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.0426, + "euclidean_distance": 6.00477, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.58375, + 3.48582, + 5.71655 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3FE7TXL1LKQ451EGPXUECK5XDWG2QZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.26749, + 0.08441, + 6.12844 + ], + "start_rotation": [ + 0, + 0.87723, + 0, + 0.48007 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.7785, + "euclidean_distance": 9.25216, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.87031, + 0.08441, + 14.96518 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GFK2QRXXBK1OVTPJPVI2GQVKVUW5F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.63382, + 3.68441, + 11.45904 + ], + "start_rotation": [ + 0, + 0.73855, + 0, + 0.6742 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.5756, + "euclidean_distance": 12.26255, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.39476, + 0.68441, + -0.28851 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3K5TEWLKGXE0LUOZ0Z9G5NBMJCGIVS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.55105, + 0.08441, + 4.99756 + ], + "start_rotation": [ + 0, + 0.89283, + 0, + 0.4504 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.63538, + "euclidean_distance": 5.21736, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.20163, + 0.08441, + 6.69948 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "80f652ffcdfa47ada388a00233624799" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad" + ], + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3AAJC4I4FIVDPPDFJEJJ2U3IJZKZJN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.75603, + 3.58298, + 9.51712 + ], + "start_rotation": [ + 0, + 0.0119, + 0, + -0.99993 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.62318, + "euclidean_distance": 6.41858, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.03648, + 3.48441, + 14.71592 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3H8DHMCCWBE5X8E19HUYCHKSBEHKDW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.28089, + -2.51559, + 13.47142 + ], + "start_rotation": [ + 0, + 0.17615, + 0, + -0.98436 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.53112, + "euclidean_distance": 16.86604, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.25309, + -2.31559, + -3.44085 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3IJXV6UZ1ZM8SN7IRF464QMJY6LIRH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.87609, + 0.68441, + -0.65424 + ], + "start_rotation": [ + 0, + 0.99206, + 0, + -0.12575 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.61455, + "euclidean_distance": 7.85229, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.65785, + 3.48441, + 5.48332 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3D8YOU6S9GNKFV4YT8QMCYJYWHJ6UA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.15626, + 3.70853, + 10.52124 + ], + "start_rotation": [ + 0, + 0.54841, + 0, + 0.83621 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.01257, + "euclidean_distance": 5.61758, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.10342, + 0.08441, + 10.09485 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3QHK8ZVMIOLN2HYZGLFTWR97WI5BLR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.94103, + 0.08441, + 14.88846 + ], + "start_rotation": [ + 0, + 0.50321, + 0, + -0.86416 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.50315, + "euclidean_distance": 10.02906, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.51276, + 3.49173, + 6.06905 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "03a8325e3b054e3fad7e1e7091f9d283", + "path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283" + ], + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3JCG6DTRV5TLXKG1R8KF8230SOHQQV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.61668, + -2.31559, + -2.9396 + ], + "start_rotation": [ + 0, + 0.26568, + 0, + -0.96406 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 18.94873, + "euclidean_distance": 13.31526, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.32623, + -2.89732, + 10.15398 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:36AHBNMV1TF0HD3IDWVPLPZ39S7YDK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.81101, + 3.48729, + 12.597 + ], + "start_rotation": [ + 0, + 0.82892, + 0, + -0.55936 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.20864, + "euclidean_distance": 4.14961, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.58815, + 3.48441, + 15.14544 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3I7DHKZYGP3ZD97UT0LIYS4VPTF5F3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.95923, + 0.08441, + 10.93523 + ], + "start_rotation": [ + 0, + 0.71723, + 0, + 0.69683 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.63292, + "euclidean_distance": 6.92161, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64359, + 3.48441, + 5.44213 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:374TNBHA8DYU6M7NII19LO62S5UQYB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.4399, + -2.91559, + 16.22897 + ], + "start_rotation": [ + 0, + 0.93122, + 0, + -0.36447 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.0502, + "euclidean_distance": 6.78078, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74193, + -2.91559, + 13.43227 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3K2755HG5U6UHMMN8631W4SN29XDF1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.83054, + -2.51559, + 13.60197 + ], + "start_rotation": [ + 0, + 0.99601, + 0, + 0.08925 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.59684, + "euclidean_distance": 3.54991, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.83368, + -2.91559, + 13.37707 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3JRJSWSMQJO4TGKUK6DJ1DLBZTBE30", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.38292, + 0.08441, + 10.92192 + ], + "start_rotation": [ + 0, + 0.71955, + 0, + 0.69444 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 25.85495, + "euclidean_distance": 6.43232, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.54675, + 3.48739, + 5.78728 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ON104KXQMZJSCPP5KC8XOKHK0U4WF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.12836, + 0.08441, + 16.39894 + ], + "start_rotation": [ + 0, + 0.91916, + 0, + 0.39387 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 26.12735, + "euclidean_distance": 15.81462, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.3416, + 3.48441, + 3.33984 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "6c58b3d5819e4ca8b896f81230477c7e", + "path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3LYA37P8ISQCIBGHVL3SHRWS7M0KB5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.86887, + 0.68441, + -3.21259 + ], + "start_rotation": [ + 0, + 0.81597, + 0, + 0.57809 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 12.8879, + "euclidean_distance": 9.01782, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69359, + 3.48441, + 5.32134 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DR23U6WE7H9SXIOZLJAJQP9U2NET1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.15034, + 0.08441, + 8.35196 + ], + "start_rotation": [ + 0, + 0.6648, + 0, + -0.74702 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.02441, + "euclidean_distance": 8.86232, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.96931, + 3.48441, + 14.86464 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "7d01dee740ef4288b111dc65f449ca22", + "path": [ + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48" + ], + "0927e4d3dc3e4c8590fd3f7dc512a130", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3SLE99ER0PG776F3VM6246K5BUIZB9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.23589, + 0.56622, + 2.94628 + ], + "start_rotation": [ + 0, + 0.7141, + 0, + -0.70005 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.41065, + "euclidean_distance": 11.76298, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.44815, + 3.48441, + 14.07365 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "541ab4e8ff1f4bc8bf20775a1fb38872", + "path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ], + "refined_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NGMS9VZTNLRF60JZCYRK4V8EKQFFN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.44354, + -2.72373, + 3.63472 + ], + "start_rotation": [ + 0, + 0.01679, + 0, + -0.99986 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.48889, + "euclidean_distance": 9.34935, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.29493, + -2.85616, + 10.03388 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "0_edge_196_newN_0", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6" + ], + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3NPI0JQDAQ8DPO7E8ZZLD2OD739PT4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.34143, + -2.31559, + -0.05871 + ], + "start_rotation": [ + 0, + 0.88445, + 0, + 0.46663 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.24357, + "euclidean_distance": 4.95819, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.59698, + -2.31559, + -3.05751 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f0307e707d50446097021ce802f44a4e", + "path": [ + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "3107120d425e424dacedb73bf44e9094", + "e345211511824219a62f1b8d639c477e", + "c3b46ef0552142a6b62a45cd30f26de8", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "0_edge_196_newN_0", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3TPWUS5F8B4MNG24YZIQGMW5CCFWCM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.04733, + 0.08441, + 15.32974 + ], + "start_rotation": [ + 0, + 0.67858, + 0, + -0.73453 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.66761, + "euclidean_distance": 2.12539, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05148, + 0.08441, + 14.33779 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3QUO65DNQWRA41A2T4CGTY5PHEOOUM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.74701, + 0.22529, + 4.52586 + ], + "start_rotation": [ + 0, + 0.74699, + 0, + -0.66483 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 25.27623, + "euclidean_distance": 12.16102, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.94657, + 3.48441, + 14.76616 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1K581IY10MNC0:3A0EX8ZRNAR72G5YZ04JQZB367XYBF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.94362, + -2.91559, + 8.40851 + ], + "start_rotation": [ + 0, + 0.66901, + 0, + 0.74326 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.11238, + "euclidean_distance": 5.17529, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.73818, + -2.91559, + 13.27677 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_181_newN_0", + "path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_208_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:32XVDSJFP10DKMGOX4NXVBLS2KNM2D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07628, + 3.48441, + 9.5744 + ], + "start_rotation": [ + 0, + 0.30831, + 0, + -0.95129 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.36833, + "euclidean_distance": 10.62869, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.84524, + 0.68441, + -0.74403 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3WRFBPLXRCR8NMX7D5G2R0FKETW3NF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.10465, + 3.54684, + 6.44456 + ], + "start_rotation": [ + 0, + 0.63443, + 0, + 0.77298 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.75599, + "euclidean_distance": 7.26919, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.41968, + 0.68441, + -0.30097 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3HPZF4IVNOWQCLX4D00E1JHLOSZYCO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.23125, + 0.80643, + 2.84933 + ], + "start_rotation": [ + 0, + 0.71834, + 0, + 0.69569 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.33624, + "euclidean_distance": 6.04505, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.47426, + 3.48481, + 5.72268 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MB8LZR5BHWOVK2TMYSMVUSXKN2KLV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.65102, + -2.83465, + 7.09924 + ], + "start_rotation": [ + 0, + 0.30008, + 0, + -0.95391 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.29681, + "euclidean_distance": 6.64303, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.85543, + -2.91559, + 11.72054 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3NPI0JQDAQ8DPO7E8ZZLD2OD86BPTD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.6441, + -2.91559, + 14.03495 + ], + "start_rotation": [ + 0, + 0.98856, + 0, + -0.1508 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.74019, + "euclidean_distance": 2.35639, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.53896, + -2.91559, + 15.94621 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3WR9XG3T65E42XOOXC4W58L0R9U74P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.71535, + 3.48441, + 14.80024 + ], + "start_rotation": [ + 0, + 0.34624, + 0, + -0.93815 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.9259, + "euclidean_distance": 5.83449, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.02084, + 0.08441, + 10.14658 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LBXNTKX0TYZEI0RWK4LGF94FTAX9R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.73013, + 0.08441, + 8.83445 + ], + "start_rotation": [ + 0, + 0.28624, + 0, + -0.95816 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.05839, + "euclidean_distance": 9.18171, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.06757, + 0.68441, + -0.00959 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3OUYGIZWR91C9FANAXBBTRM8BXTP0K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.62221, + -2.71559, + 7.81049 + ], + "start_rotation": [ + 0, + 0.8043, + 0, + 0.59423 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.43431, + "euclidean_distance": 9.48717, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.75312, + -2.31559, + 0.27528 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d962509cdba64e6ca76a6228582eb901", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3HWRJOOET758DX59ALEK9LTNRBOSEO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.0069, + 0.68441, + 2.6517 + ], + "start_rotation": [ + 0, + 0.98146, + 0, + -0.19169 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.82431, + "euclidean_distance": 6.00692, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.22417, + 3.48441, + 3.47614 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3DQQ64TANIO5H5B8344W0MVCBSGWPG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.0953, + 0.08441, + 6.53295 + ], + "start_rotation": [ + 0, + 0.79232, + 0, + 0.61011 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.75187, + "euclidean_distance": 7.05516, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.28843, + 0.08441, + 13.53028 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_0", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "0_edge_55_newN_0", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "0_edge_55_newN_1" + ], + "0_edge_55_newN_0", + [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ] + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3NQL1CS15TBMBU344HVJRB5A8SPVYF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.36438, + 0.08441, + 10.67819 + ], + "start_rotation": [ + 0, + 0.31787, + 0, + -0.94813 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.61223, + "euclidean_distance": 2.78642, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.80077, + 0.08441, + 7.91378 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + ] + }, + { + "episode_id": "A1198W1SPF1R4:3VD82FOHKSREI7T27DRGZSJJAF4COP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.52798, + -2.31559, + -0.50333 + ], + "start_rotation": [ + 0, + 0.04699, + 0, + 0.9989 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.29261, + "euclidean_distance": 1.80051, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.16141, + -2.31559, + -2.26097 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3ZSY5X72NZEIO9ILPAHBONI5AIJORN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.59384, + 0.08441, + 13.46944 + ], + "start_rotation": [ + 0, + 0.85491, + 0, + 0.51878 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.01859, + "euclidean_distance": 1.01859, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.08703, + 0.08441, + 14.41687 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ] + }, + { + "episode_id": "A33VGSEJ44ORMF:33F859I568GLGLF9P00V4ZG0F33HB1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.46258, + 0.08441, + 6.52127 + ], + "start_rotation": [ + 0, + 0.98852, + 0, + -0.15107 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.29362, + "euclidean_distance": 6.86783, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.02605, + 0.68441, + -0.19985 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3U4J9857OGEONW9XCREJDMR627JB7K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.69527, + 0.08441, + 9.25809 + ], + "start_rotation": [ + 0, + 0.34451, + 0, + 0.93878 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 19.18015, + "euclidean_distance": 5.68167, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.40415, + 3.50017, + 6.11296 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:32RIADZISU7QLV8GLF270ZHWEPDS47", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.63626, + 0.08441, + 13.3842 + ], + "start_rotation": [ + 0, + 0.4911, + 0, + 0.8711 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 27.06462, + "euclidean_distance": 8.93607, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67463, + 3.48441, + 5.41915 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1ATL3G98SFW4V:3GS6S824SS05EKZVNPR4WXQHBHSNWW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.78977, + 0.68441, + 0.30801 + ], + "start_rotation": [ + 0, + 0.47372, + 0, + 0.88067 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.37724, + "euclidean_distance": 5.97511, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52708, + 3.48441, + 5.63441 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "a6ce5d580416478b847a83a2c537a637", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3RYI5HXC2MJLN:3QILPRALQ7YUOJ3DPMBYIHNVUE18NN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.67736, + 3.68441, + 11.03115 + ], + "start_rotation": [ + 0, + 0.66656, + 0, + 0.74545 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.16927, + "euclidean_distance": 11.86354, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.43272, + 0.68441, + -0.27789 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ] + }, + { + "episode_id": "A334BFWVFS4B41:3B1NLC6UG1Z9KJL8OZ0EEJ9OICTPGU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.93213, + 3.56917, + 6.06112 + ], + "start_rotation": [ + 0, + 0.88531, + 0, + -0.465 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 21.50111, + "euclidean_distance": 3.71775, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.27759, + 0.08441, + 6.03377 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3OVR4I9USRME8FT3TBD25Z2VWYFQ4X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.22113, + -2.31559, + -2.79945 + ], + "start_rotation": [ + 0, + 0.95645, + 0, + 0.29189 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.72272, + "euclidean_distance": 1.60905, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.68332, + -2.31559, + -2.47745 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3U5NZHP4LT5NKFGJ85IWZJLPW5VHPV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.81746, + 0.68441, + -0.50416 + ], + "start_rotation": [ + 0, + 0.33374, + 0, + 0.94266 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.22032, + "euclidean_distance": 7.27518, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.54876, + 3.48693, + 5.80987 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3LEP4MGT3I3445A734H5DE12NC8BDM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.141, + 0.68441, + 0.93786 + ], + "start_rotation": [ + 0, + 0.99803, + 0, + 0.06281 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.72307, + "euclidean_distance": 3.82555, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.17809, + 0.68441, + -2.88621 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3EFVCAY5L5CY5TCSAOJ6PA6ELWJ8JA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.31824, + -2.31559, + 1.4703 + ], + "start_rotation": [ + 0, + 0.07414, + 0, + -0.99725 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.68137, + "euclidean_distance": 5.47322, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.0525, + -2.91559, + 5.80008 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3UOUJI6MTFHXYAOUUVZCCBWISG5UX4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.7867, + 3.68441, + 12.16515 + ], + "start_rotation": [ + 0, + 0.83231, + 0, + -0.55432 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.34257, + "euclidean_distance": 13.4249, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77915, + 0.68441, + -0.68091 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3SITXWYCNXCI2BFOU4IH7L4U3RWBXU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.42485, + 0.08441, + 16.07394 + ], + "start_rotation": [ + 0, + 0.75337, + 0, + -0.6576 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 2.89114, + "euclidean_distance": 2.22686, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.35941, + 0.08441, + 13.77851 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:32Z9ZLUT1NN5ZF4IT55HAJGZM07OHT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.11121, + 0.08441, + 6.71475 + ], + "start_rotation": [ + 0, + 0.20834, + 0, + 0.97806 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.13648, + "euclidean_distance": 8.31268, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.52675, + 3.49739, + 6.13174 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_190_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3SNLUL3WO6Q2YG75GCWO1H1VL58LUI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.58359, + 0.08441, + 2.24024 + ], + "start_rotation": [ + 0, + 0.99319, + 0, + 0.11649 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.86187, + "euclidean_distance": 5.7047, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.47845, + 3.48441, + 5.68381 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:35LDD5557C7812KEMAT1V77MJHQMKA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.2894, + 0.09583, + 5.64111 + ], + "start_rotation": [ + 0, + 0.63141, + 0, + -0.77545 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 20.59905, + "euclidean_distance": 3.83614, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.42612, + 3.48441, + 5.87635 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3KMS4QQVK4T2VSSX0NPO0HNDMGFFKX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.47577, + -2.91559, + 4.47384 + ], + "start_rotation": [ + 0, + 0.64662, + 0, + -0.76281 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.28897, + "euclidean_distance": 8.81498, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.31487, + -2.84514, + 10.00486 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3QAVNHZ3EO7IJ7T7A7FX1GP1E4VLAP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.98206, + 0.08441, + 7.62528 + ], + "start_rotation": [ + 0, + 0.67087, + 0, + 0.74157 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.55072, + "euclidean_distance": 7.59179, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.14784, + 0.68441, + 0.18912 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3PJUZCGDJ8J9ZHZJOCST0GSBPQ698D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.25113, + -2.67495, + 3.57636 + ], + "start_rotation": [ + 0, + 0.37692, + 0, + 0.92625 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.60631, + "euclidean_distance": 7.27545, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75937, + -2.31559, + -3.39751 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3RJSC4XJ12X8G5S4QI2XVLHRKX105I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.4667, + -2.31559, + 2.32379 + ], + "start_rotation": [ + 0, + 0.95419, + 0, + -0.29919 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.24182, + "euclidean_distance": 7.13914, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.70296, + -2.31559, + -3.41928 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36H9ULYP64X7K8MFI2PCZ2N07V0FJR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.31571, + 0.08441, + 5.93044 + ], + "start_rotation": [ + 0, + 0.37856, + 0, + -0.92558 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.4183, + "euclidean_distance": 9.1047, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.7828, + 0.08441, + 14.94289 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_65_newN_1", + "0_edge_55_newN_1", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "0_edge_131_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3Z7EFSHGNBH1CG7U84ECI5ACMJVXC1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.00359, + 0.68441, + 2.51752 + ], + "start_rotation": [ + 0, + 0.99754, + 0, + 0.07004 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.03014, + "euclidean_distance": 4.17496, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.59592, + 3.48441, + 5.6891 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3HHRAGRYXA8CK9MZVTHPX2IB3RSO94", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.37206, + 0.68441, + -3.08981 + ], + "start_rotation": [ + 0, + 0.9346, + 0, + 0.3557 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.99222, + "euclidean_distance": 9.98543, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.30879, + 0.08441, + 6.14033 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A1RC2ETLOSZGP0:3TVSS0C0E3339X4FKLDG5WW900STWJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.25516, + -2.31559, + -2.36348 + ], + "start_rotation": [ + 0, + 0.64411, + 0, + -0.76493 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.77042, + "euclidean_distance": 2.75282, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.84753, + -2.31559, + 0.10698 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3A4TN5196ML4QQ7F30WQFJMIYT5HCL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.85467, + -2.91559, + 15.09924 + ], + "start_rotation": [ + 0, + 0.98893, + 0, + -0.1484 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 15.79263, + "euclidean_distance": 14.93876, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.73753, + -2.31559, + 0.25286 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3G0WWMR1UXN0UN39BGSY488VNFDNQS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.40919, + 0.68441, + 0.55589 + ], + "start_rotation": [ + 0, + 0.758, + 0, + 0.65225 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 10.37808, + "euclidean_distance": 5.56432, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.59686, + 3.48441, + 5.49806 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:31Z0PCVWUMIOJI3ECD54DGXS8BQT7T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.05158, + 0.08441, + 11.55277 + ], + "start_rotation": [ + 0, + 0.71037, + 0, + -0.70383 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.74939, + "euclidean_distance": 14.01231, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.1174, + 0.68441, + -2.14162 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A16K7X677N4WN6:37Z929RLGBBA2GN60G3F87TOVRVSTB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.31238, + -2.91559, + 9.8843 + ], + "start_rotation": [ + 0, + 0.86277, + 0, + 0.50559 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.59134, + "euclidean_distance": 3.57835, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.79102, + -2.91559, + 13.45688 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0b302846f0994ec9851862b1d317d7f2", + "path": [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:39RP059MEJW78ZGKGXG8W4OWWRMBMS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.97671, + -2.83696, + 4.19115 + ], + "start_rotation": [ + 0, + 0.99843, + 0, + -0.05596 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 4.24044, + "euclidean_distance": 3.91781, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69569, + -2.31559, + 0.27819 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "d962509cdba64e6ca76a6228582eb901", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6" + ], + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3TXD01ZLD6K6080KAKX7F0ZKZGO4UD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.21132, + 0.08441, + 10.88365 + ], + "start_rotation": [ + 0, + 0.44304, + 0, + -0.8965 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 25.83448, + "euclidean_distance": 6.35346, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35951, + 3.48441, + 5.86225 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3OWEPKL08BFQO5YUFHJS4HR0IMKN7N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.13724, + 0.08441, + 10.98057 + ], + "start_rotation": [ + 0, + 0.8689, + 0, + 0.49498 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 26.07629, + "euclidean_distance": 6.73735, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.50587, + 3.48441, + 5.86337 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3JW0YLFXRVJV1E89FQIRSG385ZHWWU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.79468, + 0.08441, + 5.77085 + ], + "start_rotation": [ + 0, + 0.19399, + 0, + 0.981 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.40362, + "euclidean_distance": 8.69904, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.57922, + 0.08441, + 14.41775 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "fc4462fb87874bc8b6d77e45806168df", + "path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3EF8EXOTT3YGUTS7B3ARA0J66KJ1JC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.5672, + -2.91559, + 8.74401 + ], + "start_rotation": [ + 0, + 0.82325, + 0, + -0.56768 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.74075, + "euclidean_distance": 4.74503, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.73611, + -2.91559, + 13.47379 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0b302846f0994ec9851862b1d317d7f2", + "path": [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3MAOD8E57SDK3K4LXUNQYG4OKG8NXT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.02408, + 3.6352, + 9.69132 + ], + "start_rotation": [ + 0, + 0.30708, + 0, + -0.95168 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 3.70591, + "euclidean_distance": 3.62881, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.7885, + 3.53215, + 6.11436 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TS1AR6UQSHE0DLDHT0FWCIRGVZ7F1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.59109, + -2.31559, + -2.74566 + ], + "start_rotation": [ + 0, + 0.78447, + 0, + 0.62017 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.08228, + "euclidean_distance": 13.68732, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.43304, + -2.85031, + 10.03263 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HHRAGRYXA8CK9MZVTHPX2IB4VA9OG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.72445, + -2.51559, + 13.67017 + ], + "start_rotation": [ + 0, + 0.98868, + 0, + -0.15006 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.18423, + "euclidean_distance": 2.59315, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.63462, + -2.91559, + 16.04868 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3B1NLC6UG1Z9KJL8OZ0EEJ9OH99PG3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.26607, + 3.68029, + 10.94257 + ], + "start_rotation": [ + 0, + 0.29963, + 0, + -0.95405 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.25136, + "euclidean_distance": 12.22348, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.37217, + 0.77949, + -0.21809 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3Z4AIRP3C8GHPDXWS7PS19RLHJFX1F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.24339, + -2.49435, + 3.01049 + ], + "start_rotation": [ + 0, + 0.8637, + 0, + 0.504 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.91589, + "euclidean_distance": 3.65692, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.55968, + -2.31559, + -0.18038 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3MRNMEIQW79GHEWJUH6ZRHX70EMDLS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.57085, + -2.31559, + 1.66298 + ], + "start_rotation": [ + 0, + 0.51741, + 0, + -0.85574 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.01222, + "euclidean_distance": 5.08989, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.59557, + -2.31559, + -3.07362 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "3107120d425e424dacedb73bf44e9094", + "d962509cdba64e6ca76a6228582eb901", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:388U7OUMF94XLSQ2NPF0YMMNCDD0RF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.34511, + 3.48441, + 5.64192 + ], + "start_rotation": [ + 0, + 0.99066, + 0, + -0.13639 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 2.18349, + "euclidean_distance": 2.03638, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.70208, + 3.48441, + 5.37727 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "425e120b2d7742b1a8f0902355908761", + "path": [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3E13VNJ1NPYKZI81TLPRYZ46T2CI1T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.43843, + 0.68441, + -2.02512 + ], + "start_rotation": [ + 0, + 0.17529, + 0, + -0.98452 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.21096, + "euclidean_distance": 9.05484, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.62027, + 3.48946, + 6.08727 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3O7L7BFSHGSJJJ2D59K65JN0IB6IE2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.61876, + -2.91559, + 10.73733 + ], + "start_rotation": [ + 0, + 0.07144, + 0, + -0.99745 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 6.45534, + "euclidean_distance": 6.1124, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.55239, + -2.91559, + 16.09609 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "AVASQBFN6J692:37ZHEEHM6YPJK15KXYZDV3TUDAC73K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.12956, + 0.68441, + 1.30099 + ], + "start_rotation": [ + 0, + 0.82449, + 0, + 0.56588 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 18.24154, + "euclidean_distance": 13.79787, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.90581, + 3.48441, + 14.84612 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:339ANSOTR75M5JUN1VV93E053HQKIV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.68519, + -2.31559, + -3.36229 + ], + "start_rotation": [ + 0, + 0.99677, + 0, + -0.08028 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.84151, + "euclidean_distance": 9.07529, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.48559, + -2.91559, + 5.39282 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3S06PH7KST73R7SF17OG72OT10D1DP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.57458, + 0.30326, + 5.75097 + ], + "start_rotation": [ + 0, + 0.59852, + 0, + 0.80111 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.76033, + "euclidean_distance": 3.34623, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55768, + 3.48441, + 5.70249 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:39GAF6DQWT3PLOS1SSOADOU017O1VV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.43364, + -2.31559, + 2.24317 + ], + "start_rotation": [ + 0, + 0.14296, + 0, + 0.98973 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 7.36555, + "euclidean_distance": 4.78888, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.73439, + -2.31559, + -2.36933 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3D4CH1LGECWOSW517A4HST99C5SG90", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.55904, + 0.68441, + -1.44753 + ], + "start_rotation": [ + 0, + 0.77313, + 0, + 0.63425 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.66154, + "euclidean_distance": 6.78939, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.37054, + 3.48441, + 3.41407 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3E7TUJ2EGEPLGCVA5K39M86C0IVD9H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.14009, + -2.91559, + 9.09665 + ], + "start_rotation": [ + 0, + 0.94923, + 0, + -0.31458 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.70428, + "euclidean_distance": 7.45541, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.30157, + -2.91559, + 15.45936 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:36W0OB37HYHHYJIPVEGYQHN37EPHZO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.25985, + 3.48441, + 9.40564 + ], + "start_rotation": [ + 0, + 0.37955, + 0, + -0.92517 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.41182, + "euclidean_distance": 3.67489, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.57376, + 3.49737, + 5.84577 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3JW0YLFXRVJV1E89FQIRSG385XMWWV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.05803, + 0.25707, + 3.87766 + ], + "start_rotation": [ + 0, + 0.64103, + 0, + -0.76751 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 16.9241, + "euclidean_distance": 5.06158, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.53181, + 3.48441, + 5.69893 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TXMY6UCAGRH3J6IMQJKOXEJPI5QCY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.2898, + -2.91559, + 5.26254 + ], + "start_rotation": [ + 0, + 0.44356, + 0, + 0.89625 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.92542, + "euclidean_distance": 3.43664, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.63294, + -2.91559, + 8.72187 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "d7ec37565be24b1ca1d4f99c34fc1632", + "path": [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f3d9a22621e14992b8b3fb9776f0395b", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A16K7X677N4WN6:336KAV9KYSVDE352G7B8P68ZBVRY27", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.99671, + 0.08441, + 11.3157 + ], + "start_rotation": [ + 0, + 0.88919, + 0, + 0.45754 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.42163, + "euclidean_distance": 8.01342, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55705, + 3.48441, + 5.68434 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3RYC5T2D75W099UM4AUQDNNVJI7RPO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.75377, + 0.08441, + 8.30489 + ], + "start_rotation": [ + 0, + 0.43066, + 0, + -0.90251 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.88183, + "euclidean_distance": 2.34473, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.05027, + 0.08441, + 9.00037 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_190_newN_1", + "path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:30MVJZJNHOGYJYV2FGPKP61P4WYJ9U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.42817, + 0.68441, + 1.16998 + ], + "start_rotation": [ + 0, + 0.52743, + 0, + -0.8496 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.73523, + "euclidean_distance": 5.04084, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.63422, + 3.48441, + 5.32909 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3KOPY89HMA5C4W6MY7OAYTY35A63JS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.34035, + 0.08441, + 4.0761 + ], + "start_rotation": [ + 0, + 0.96529, + 0, + -0.26117 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.59999, + "euclidean_distance": 10.86966, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35768, + 3.48441, + 14.03482 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_190_newN_0", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3AWETUDC94VHUET91WYJQTOI6LLZI3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.01661, + 0.68441, + 1.58756 + ], + "start_rotation": [ + 0, + 0.78931, + 0, + 0.61399 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.8571, + "euclidean_distance": 4.91013, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55856, + 3.48441, + 5.60889 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:358010RM5GWXBPDUZL9H8XY16LQVX2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.13041, + 3.68441, + 11.94476 + ], + "start_rotation": [ + 0, + 0.65198, + 0, + -0.75823 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.07228, + "euclidean_distance": 13.28437, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.84809, + 0.68441, + -0.64498 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3ON104KXQMZJSCPP5KC8XOKHL5C4W8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.35571, + 0.68441, + 0.92853 + ], + "start_rotation": [ + 0, + 0.89161, + 0, + -0.45281 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.86981, + "euclidean_distance": 13.45413, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45928, + 3.48441, + 14.03163 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:373ERPL3YQBY11NTLR3AIXOS9RATRQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.36508, + 0.08441, + 9.53047 + ], + "start_rotation": [ + 0, + 0.58196, + 0, + 0.81322 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.8168, + "euclidean_distance": 10.2746, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.07566, + 0.68441, + -0.19262 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3UN61F00HYSWGZC3KVLCFHIETPT5RI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.88892, + -2.91559, + 14.71558 + ], + "start_rotation": [ + 0, + 0.39103, + 0, + 0.92038 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 2.72905, + "euclidean_distance": 2.58412, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.07343, + -2.91559, + 12.0517 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3FE2ERCCZZBXCW26CIDMJSIQ9YZOPV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.94301, + -2.91559, + 15.85054 + ], + "start_rotation": [ + 0, + 0.07695, + 0, + -0.99703 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.95958, + "euclidean_distance": 5.32473, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.07687, + -2.91559, + 12.04789 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IFS6Q0HJKMKT27V644BU0RFK92SIF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.45171, + 3.60821, + 7.0889 + ], + "start_rotation": [ + 0, + 0.69398, + 0, + -0.71999 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.66317, + "euclidean_distance": 7.21015, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.33571, + 3.48441, + 14.13151 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:33IZTU6J834HJXWQ5Q4CXAEU7E7XS4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.35027, + -2.31559, + -3.93639 + ], + "start_rotation": [ + 0, + 0.51731, + 0, + 0.8558 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 20.01283, + "euclidean_distance": 14.17134, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.25005, + -2.90579, + 10.16951 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "e345211511824219a62f1b8d639c477e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:340UGXU9D045ULJZUGYUOQZXDAXVUD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.26722, + 3.67012, + 13.71265 + ], + "start_rotation": [ + 0, + 0.9813, + 0, + 0.19248 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.90727, + "euclidean_distance": 14.53307, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32818, + 0.68441, + -0.2492 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35" + ], + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:308Q0PEVBAG2ONBWXY4KD5MPSKB9IH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.31672, + -2.91559, + 12.47444 + ], + "start_rotation": [ + 0, + 0.99453, + 0, + -0.10444 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.21102, + "euclidean_distance": 4.95713, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32322, + -2.91559, + 15.50095 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3S0TNUHWKVLL27C00SXVMCB1GA1D8C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.89284, + 3.48441, + 14.13494 + ], + "start_rotation": [ + 0, + 0.75844, + 0, + -0.65174 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 29.32886, + "euclidean_distance": 5.92809, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.55699, + 0.08441, + 10.03904 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TAYZSBPLNBGIHTTH1JJ7KKYU8W2SU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.19811, + 0.08441, + 9.62912 + ], + "start_rotation": [ + 0, + 0.84212, + 0, + 0.5393 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.133, + "euclidean_distance": 9.81659, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.124, + 0.68441, + -0.13952 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3OXV7EAXLGT0G1RFEOULPPTYJ3J36H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.96913, + -2.91559, + 14.80578 + ], + "start_rotation": [ + 0, + 0.80922, + 0, + 0.58751 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.12206, + "euclidean_distance": 2.63566, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.34021, + -2.91559, + 15.45739 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3B3WTRP3DD5YD2XU8VJSQPF83PC29Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.09111, + 3.48441, + 16.21663 + ], + "start_rotation": [ + 0, + 0.70348, + 0, + 0.71071 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.64396, + "euclidean_distance": 3.52401, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.92212, + 3.48441, + 14.22101 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3FUI0JHJPZ11JI4XVMWNIMHE88K335", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.46932, + -2.31559, + -2.35171 + ], + "start_rotation": [ + 0, + 0.92439, + 0, + 0.38146 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.36202, + "euclidean_distance": 3.08566, + "closest_goal_object_id": 466, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.10639, + -2.31559, + 0.29271 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34HJIJKLP7Z6DNPKFA7CBM13DSJ4VY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.86957, + -2.91559, + 12.2253 + ], + "start_rotation": [ + 0, + 0.99645, + 0, + 0.08421 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.04963, + "euclidean_distance": 15.68035, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.20618, + -2.31559, + -3.30491 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3XC1O3LBOUPNY3SGG76EWLFT2TNLTH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.29522, + 0.68441, + 2.19953 + ], + "start_rotation": [ + 0, + 0.95217, + 0, + 0.30557 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.26062, + "euclidean_distance": 4.05673, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25631, + 0.08441, + 5.9632 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5" + ], + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3G0WWMR1UXN0UN39BGSY488VOMHNQB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.76721, + 3.51187, + 10.16039 + ], + "start_rotation": [ + 0, + 0.99028, + 0, + -0.13909 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.04011, + "euclidean_distance": 11.19673, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.79067, + 0.68441, + -0.64136 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3TMSXRD2X8320DS6I2T6ZQDE8HG1WX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.37, + 0.08441, + 13.14352 + ], + "start_rotation": [ + 0, + 0.07955, + 0, + -0.99683 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.43894, + "euclidean_distance": 13.32909, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.08879, + 0.68441, + -0.21771 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3AAPLD8UCEKLC79QPMRG4TMMMFSHTR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.41255, + -2.91559, + 15.35511 + ], + "start_rotation": [ + 0, + 0.84949, + 0, + 0.52761 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.40094, + "euclidean_distance": 15.73929, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.78953, + -2.31559, + 0.23063 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b" + ], + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3AMW0RGHOF5FUB2UB3D943ILJORNPC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.1802, + -2.31559, + 1.79475 + ], + "start_rotation": [ + 0, + 0.11074, + 0, + -0.99385 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.97483, + "euclidean_distance": 4.79412, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.60844, + -2.31559, + -3.00332 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:39OWYR0EPMUXFXHE42QF9P2OL4WYF2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.68464, + 0.08441, + 7.98011 + ], + "start_rotation": [ + 0, + 0.88945, + 0, + -0.45704 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.18115, + "euclidean_distance": 8.3366, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.09151, + 0.68441, + -0.00497 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3VELCLL3GMM0PR6BSDJ6V2REDANF12", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.39234, + -2.91559, + 15.56986 + ], + "start_rotation": [ + 0, + 0.71436, + 0, + -0.69978 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.14545, + "euclidean_distance": 1.1425, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.44291, + -2.91559, + 15.19764 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "36127c5e30e644799c0f1a1ecd4381ca", + "path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:32EYX73OY2CD1E2ILWTKNTAUS28RU0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.48767, + -2.91559, + 5.77925 + ], + "start_rotation": [ + 0, + 0.43916, + 0, + -0.89841 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.30884, + "euclidean_distance": 3.95937, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.77076, + -2.91559, + 8.67961 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "e10d6b636ed94caa87771f92b1251868", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3M0NZ3JDP315IQYUUCFP1KKD255Z5W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.09689, + 3.48441, + 8.31673 + ], + "start_rotation": [ + 0, + 0.75238, + 0, + -0.65873 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.11053, + "euclidean_distance": 9.42276, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.83925, + 0.68441, + -0.7243 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3G0WWMR1UXN0UN39BGSY488VOJVNQJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.71162, + 0.68441, + -0.52998 + ], + "start_rotation": [ + 0, + 0.56182, + 0, + 0.82726 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.93879, + "euclidean_distance": 7.52994, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.31035, + 0.08441, + 6.03637 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ] + ] + }, + { + "episode_id": "A302KOFOYLD89A:31Q0U3WYDRINAYR5AULU7AEXFMR177", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.24493, + -2.31559, + -0.21608 + ], + "start_rotation": [ + 0, + 0.26319, + 0, + 0.96474 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.15895, + "euclidean_distance": 11.97381, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.40191, + -2.84765, + 10.02164 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_196_newN_0", + "path": [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3X31TUMD7ZPMPJG7EOM4QFWYBFH1LK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.34885, + 0.08441, + 7.50826 + ], + "start_rotation": [ + 0, + 0.03595, + 0, + -0.99935 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.55581, + "euclidean_distance": 7.82092, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13049, + 0.68441, + -0.11047 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_234_newN_0", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32RIADZISU7QLV8GLF270ZHWFRPS4O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.51903, + -2.31559, + 1.54007 + ], + "start_rotation": [ + 0, + 0.86565, + 0, + 0.50065 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.80902, + "euclidean_distance": 5.54634, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.00927, + -2.91559, + 5.69332 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:32RIADZISU7QLV8GLF270ZHWEMVS4J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.21724, + 0.08441, + 13.82488 + ], + "start_rotation": [ + 0, + 0.00659, + 0, + 0.99998 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.19198, + "euclidean_distance": 2.1416, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01789, + 0.08441, + 14.32886 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A17OSPGV41FZ7P:3PDJHANYK7JFA9YET9JNTJU829Q6HI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.90688, + -2.31559, + 0.67355 + ], + "start_rotation": [ + 0, + 0.24126, + 0, + 0.97046 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 1.82262, + "euclidean_distance": 1.68315, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.29138, + -2.31559, + 1.28307 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3OXV7EAXLGT0G1RFEOULPPTYJ4S36S", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.58024, + 0.08441, + 11.82936 + ], + "start_rotation": [ + 0, + 0.71486, + 0, + -0.69926 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.55158, + "euclidean_distance": 6.26803, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.00474, + 0.08441, + 8.87433 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:36U2A8VAG328VJ9S5DHCP2UTT0VYKM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.1678, + 3.48441, + 9.4437 + ], + "start_rotation": [ + 0, + 0.96598, + 0, + 0.25862 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.62395, + "euclidean_distance": 10.07321, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.48886, + 0.68441, + -0.28821 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "refined_path": [ + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PJ71Z61R65ROHFYPRJEL653BKM197", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.03562, + -2.654, + 3.55666 + ], + "start_rotation": [ + 0, + 0.45567, + 0, + -0.89015 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.65567, + "euclidean_distance": 3.71901, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.62801, + -2.31559, + -0.1435 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3X3OR7WPZ1340J0SD9VJ5PJ6OBJL8Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.49745, + 0.68441, + -3.17191 + ], + "start_rotation": [ + 0, + 0.95187, + 0, + -0.30649 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.13845, + "euclidean_distance": 9.44922, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45571, + 3.48441, + 5.92983 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3NG53N1RLXMUR4FQ51OQM6SQTLE8PE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.71065, + 0.08441, + 13.44468 + ], + "start_rotation": [ + 0, + 0.30875, + 0, + -0.95114 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 28.5662, + "euclidean_distance": 8.96457, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.33267, + 3.48441, + 5.82118 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "7a663a2787474bc2b09a4e8b21325141", + "path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3VE8AYVF8O0I0RQWRYSLACEMSQIF8W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.77868, + -2.31559, + 0.31571 + ], + "start_rotation": [ + 0, + 0.99973, + 0, + 0.02331 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.50375, + "euclidean_distance": 6.70786, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77056, + -2.31559, + -3.45399 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3QHK8ZVMIOLN2HYZGLFTWR97XOWBLV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.46494, + -2.31559, + 0.79713 + ], + "start_rotation": [ + 0, + 0.58984, + 0, + 0.80752 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.16573, + "euclidean_distance": 4.76719, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77604, + -2.31559, + -3.46513 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3HYA4D452TM7ECO7BHJK0L1J5G5F2N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.9232, + 0.68441, + 0.5336 + ], + "start_rotation": [ + 0, + 0.81215, + 0, + -0.58345 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.65466, + "euclidean_distance": 6.13006, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45416, + 3.48441, + 5.92133 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ND9UOO81M5FQKWABCBPJ5MS7TBWL1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.35377, + 0.08441, + 2.00551 + ], + "start_rotation": [ + 0, + 0.8438, + 0, + -0.53666 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.22085, + "euclidean_distance": 4.32078, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.74069, + 0.68441, + 2.42578 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_65_newN_0", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3RGU30DZTCBDQIEW4PTPUS794UZMJO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.21975, + 3.5995, + 12.68007 + ], + "start_rotation": [ + 0, + 0.99653, + 0, + -0.08322 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.2771, + "euclidean_distance": 4.63831, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45212, + 3.54131, + 9.95995 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "c5f2bf41ad33497a925bead423cbfb19", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3VD82FOHKSREI7T27DRGZSJJAFNOCK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.49498, + 0.08441, + 12.82267 + ], + "start_rotation": [ + 0, + 0.76184, + 0, + 0.64777 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.96904, + "euclidean_distance": 15.88595, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.33167, + 0.68441, + -2.87003 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A3G5OWGKHW6OL5:33NF62TLXL5I0UETJDG9FFF5GWFKJ7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.55698, + 0.12948, + 5.48046 + ], + "start_rotation": [ + 0, + 0.33513, + 0, + -0.94217 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 17.61441, + "euclidean_distance": 6.29829, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.52094, + 0.08441, + 7.2762 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:37W3JXSD68BZQJ39UR0FDDOOG79YWN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.34461, + 0.08441, + 9.1855 + ], + "start_rotation": [ + 0, + 0.03555, + 0, + 0.99937 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.48079, + "euclidean_distance": 6.33927, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.7741, + 0.08441, + 14.85204 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3SPJ0334236DKZ3ANSH0ONUGD2JJYD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.09228, + 0.08441, + 4.37622 + ], + "start_rotation": [ + 0, + 0.42797, + 0, + 0.90379 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.11933, + "euclidean_distance": 3.87069, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.461, + 3.50562, + 6.18981 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "AJ4T7PTRYNSUW:3SLE99ER0PG776F3VM6246K5C0RBZ7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.01761, + 0.08441, + 9.74627 + ], + "start_rotation": [ + 0, + 0.46537, + 0, + 0.88512 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.35398, + "euclidean_distance": 9.6696, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.24703, + 0.68441, + 0.34924 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A28AXX4NCWPH1F:3FPRZHYEP0ALVR6GFW2T1H9XZSIV3Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.01252, + 0.08441, + 14.18428 + ], + "start_rotation": [ + 0, + 0.50568, + 0, + 0.86272 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.99319, + "euclidean_distance": 9.15594, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.47055, + 3.49839, + 6.12037 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "AVASQBFN6J692:3YHH42UU5DIMIUVPI5I4CADO6KFL0Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.9872, + 0.08441, + 7.12687 + ], + "start_rotation": [ + 0, + 0.35813, + 0, + 0.93367 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.38249, + "euclidean_distance": 10.24566, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99537, + 3.48441, + 14.67824 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:37C0GNLMHH6YYTTC7D0X2YFAAFR6DZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.08636, + -2.91559, + 15.36053 + ], + "start_rotation": [ + 0, + 0.77466, + 0, + 0.63238 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.07202, + "euclidean_distance": 1.55241, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.55809, + -2.91559, + 15.09506 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "36127c5e30e644799c0f1a1ecd4381ca", + "path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3BF51CHDTXDKWYCZRK36KIKHP7K0HT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.07354, + 0.15109, + 5.72812 + ], + "start_rotation": [ + 0, + 0.11192, + 0, + 0.99372 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.52031, + "euclidean_distance": 11.35526, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.97789, + 3.48441, + 14.74792 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:32SCWG5HIJ77NQW2CMRS2SWZNRC6PG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.15407, + 0.08441, + 7.02321 + ], + "start_rotation": [ + 0, + 0.86551, + 0, + 0.5009 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 21.97442, + "euclidean_distance": 3.97561, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.3415, + 3.48441, + 5.83276 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3JWH6J9I9UGDQH1KSYV89JDW2JYBNZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.03526, + 0.08441, + 8.52977 + ], + "start_rotation": [ + 0, + 0.38213, + 0, + -0.92411 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.38797, + "euclidean_distance": 7.09487, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.57401, + 3.48441, + 5.66376 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3W8CV64QJ422SS0CRGMZDTLAR30H9R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.1182, + 0.68441, + 1.57241 + ], + "start_rotation": [ + 0, + 0.41945, + 0, + -0.90778 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.5174, + "euclidean_distance": 12.84376, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.39718, + 3.48441, + 13.96924 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DI28L7YXCH8JD6FX2Z0DK6E186E1F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.77367, + 0.08441, + 7.39197 + ], + "start_rotation": [ + 0, + 0.79679, + 0, + -0.60425 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 23.47168, + "euclidean_distance": 4.98327, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.54677, + 3.48546, + 5.83332 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:37TD41K0AJCTGZLVEU8PJXTK73KSCD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.42674, + 0.08441, + 8.61695 + ], + "start_rotation": [ + 0, + 0.6248, + 0, + -0.78078 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.70907, + "euclidean_distance": 9.43922, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13737, + 0.68441, + -0.21803 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3X3OR7WPZ1340J0SD9VJ5PJ6OFUL8I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.83836, + 3.55252, + 6.80866 + ], + "start_rotation": [ + 0, + 0.90219, + 0, + -0.43133 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.63841, + "euclidean_distance": 8.01354, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.784, + 0.68441, + -0.76238 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:35LDD5557C7812KEMAT1V77MJJZMKN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.94912, + 0.08441, + 12.33366 + ], + "start_rotation": [ + 0, + 0.33654, + 0, + -0.94167 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.19816, + "euclidean_distance": 16.37649, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.48056, + 0.68441, + -3.09053 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "3ffabcbad5894c6e8f03f54453a1e2e9", + "path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + [ + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c" + ], + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3B1NLC6UG1Z9KJL8OZ0EEJ9OID1PG4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.49321, + -2.91559, + 13.61783 + ], + "start_rotation": [ + 0, + 0.55109, + 0, + -0.83444 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.16921, + "euclidean_distance": 2.92043, + "closest_goal_object_id": 367, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.1545, + -2.91559, + 12.79749 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "4b77e304d83943999198c3cd4457512c" + ], + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3Z2R0DQ0JJHF8YOBG6ZEI3GJTFBE2P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.06302, + 0.68441, + -2.80818 + ], + "start_rotation": [ + 0, + 0.98645, + 0, + -0.16409 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.65965, + "euclidean_distance": 9.37141, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37229, + 3.48441, + 5.85349 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:31QTRG6Q2VG96A68I5MKLJGSN9CYPW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.59861, + -2.31559, + 1.72967 + ], + "start_rotation": [ + 0, + 0.92962, + 0, + -0.36852 + ], + "object_category": "table", + "info": { + "geodesic_distance": 14.49673, + "euclidean_distance": 10.23282, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.81689, + -2.91559, + 11.98062 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e5bfa9c293cd44e1b14953500462dd72", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3DBQWDE4Y81B11KBRO4V6XD4SRLN5R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.33496, + -2.31559, + 1.29717 + ], + "start_rotation": [ + 0, + 0.63222, + 0, + -0.77479 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.48509, + "euclidean_distance": 5.85465, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.53365, + -2.31559, + -3.06451 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3TUI152ZZDQXGGWK6TU071VSKFGQ1X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.98706, + 0.08441, + 4.67829 + ], + "start_rotation": [ + 0, + 0.16848, + 0, + 0.9857 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.49119, + "euclidean_distance": 11.86183, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.87096, + 0.08441, + 14.90987 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_190_newN_0", + "0_edge_65_newN_0", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A75XDPFNICR3T:36U2A8VAG328VJ9S5DHCP2UTSUHYKV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.00853, + -2.30771, + 1.75083 + ], + "start_rotation": [ + 0, + 0.49011, + 0, + -0.87166 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 1.43521, + "euclidean_distance": 1.34312, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.56953, + -2.31559, + 0.53794 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "0_edge_233_newN_0" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:308Q0PEVBAG2ONBWXY4KD5MPRG8I9E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.00435, + 0.08441, + 16.50776 + ], + "start_rotation": [ + 0, + 0.99411, + 0, + 0.1084 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 18.6571, + "euclidean_distance": 16.68616, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.08471, + 0.68441, + -0.19686 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A302KOFOYLD89A:3R9WASFE21JXKNRJ0OSYNWBQRYJFZT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.05972, + 0.08441, + 6.68417 + ], + "start_rotation": [ + 0, + 0.58893, + 0, + 0.80819 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 21.98214, + "euclidean_distance": 8.55852, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.48604, + 0.08441, + 7.28277 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:34FNN24DCOC5D0OPYQD6NDBBW7E5YG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.22958, + 0.08441, + 6.75873 + ], + "start_rotation": [ + 0, + 0.25519, + 0, + 0.96689 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.91361, + "euclidean_distance": 7.94611, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.75521, + 0.68441, + -0.35025 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3DY4FPOOA3RDETRIQM3PJFCD55GVRJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.55153, + 0.68441, + -3.16366 + ], + "start_rotation": [ + 0, + 0.76155, + 0, + 0.64811 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.87417, + "euclidean_distance": 3.33255, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.26949, + 0.68441, + -0.45634 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3PB5A5BD0X9KEDH8SD6XEXI3HFKG74", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.18086, + -2.91559, + 9.38479 + ], + "start_rotation": [ + 0, + 0.2759, + 0, + -0.96119 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.51814, + "euclidean_distance": 9.69288, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69994, + -2.31559, + 0.35157 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3J4Q2Z4UT06QHHCN3HJL0RLMHWIWQ4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.95893, + 0.08441, + 15.58174 + ], + "start_rotation": [ + 0, + 0.57845, + 0, + -0.81572 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.42973, + "euclidean_distance": 15.79145, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.01154, + 0.68441, + -0.23336 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OVHNO1VE840M3DN9IX8ZW85FM1DZG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.68099, + 3.75619, + 12.7958 + ], + "start_rotation": [ + 0, + 0.0796, + 0, + 0.99683 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.90127, + "euclidean_distance": 13.56643, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.47993, + 0.68441, + -0.29401 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3ITXP059PYMGODR1OMPB616FXR0JSX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.18383, + 0.68441, + 0.23659 + ], + "start_rotation": [ + 0, + 0.1633, + 0, + -0.98658 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.49081, + "euclidean_distance": 11.20998, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.15051, + 0.08441, + 10.14526 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3V26SBZTBFH3P4IJ10M5QOR833UZZI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.38453, + -2.31559, + 2.28625 + ], + "start_rotation": [ + 0, + 0.99415, + 0, + 0.10797 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.45336, + "euclidean_distance": 6.64112, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.61132, + -2.31559, + -3.03784 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:37QW5D2ZRIPR4WVIXISKHBX1HF6S8K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.94914, + 0.08441, + 3.75204 + ], + "start_rotation": [ + 0, + 0.1594, + 0, + 0.98721 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.39778, + "euclidean_distance": 3.82263, + "closest_goal_object_id": 275, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 2.54228, + 0.08441, + 7.28734 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "a6ce5d580416478b847a83a2c537a637", + "path": [ + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3NGI5ARFTV8CG4V56GFB7W5IGPR1PR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.93241, + -2.31559, + -1.78769 + ], + "start_rotation": [ + 0, + 0.58651, + 0, + 0.80994 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.61963, + "euclidean_distance": 4.75184, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.71474, + -2.31559, + -2.99471 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5908a457f37a470aa0e8cd389f31d438", + "path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3CPLWGV3MQ2U2OMNUEHCIDI6EKYN96", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.64893, + -2.31559, + 2.21747 + ], + "start_rotation": [ + 0, + 0.41627, + 0, + -0.90924 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.47121, + "euclidean_distance": 5.19191, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.61408, + -2.31559, + -3.07559 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3OSWBBLG1G0BH8D8809N2BSU7LJXDH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.42771, + 3.05502, + 2.70008 + ], + "start_rotation": [ + 0, + 0.08399, + 0, + 0.99647 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.00015, + "euclidean_distance": 3.96651, + "closest_goal_object_id": 15, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.12408, + 3.49396, + 5.84172 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e60f96413bf448889377affdd919ba35", + "path": [ + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KJYX6QCMBEWG585IHUGHOQMWV4VJO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.86783, + 3.68441, + 12.00614 + ], + "start_rotation": [ + 0, + 0.28177, + 0, + -0.95948 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 16.11882, + "euclidean_distance": 12.67666, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.44239, + 0.68441, + -0.36403 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IOEN3P9S9M46YD0RKG21WE1KFD16M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.01755, + 3.81009, + 13.13807 + ], + "start_rotation": [ + 0, + 0.99712, + 0, + 0.0758 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.52752, + "euclidean_distance": 14.51464, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.51105, + 0.80601, + -0.27092 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3H0W84IWBM5WCI5WVWEFJBOR5BGER1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.86041, + 0.08441, + 11.60262 + ], + "start_rotation": [ + 0, + 0.99377, + 0, + -0.11149 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.32415, + "euclidean_distance": 12.36921, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.76259, + 0.68441, + -0.43716 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3MMN5BL1W17254C71412ELQK932M3E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.81928, + -2.91559, + 12.10736 + ], + "start_rotation": [ + 0, + 0.73187, + 0, + 0.68144 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.36543, + "euclidean_distance": 4.00961, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.45123, + -2.91559, + 16.05328 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3L0KT67Y8GJ6J2M0AMQEGOL3AT4SYR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.6346, + 3.62104, + 8.11097 + ], + "start_rotation": [ + 0, + 0.45423, + 0, + -0.89089 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.99291, + "euclidean_distance": 7.55899, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.92005, + 3.48441, + 14.84748 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LS2AMNW5HTIC83LCVSBJX80DP7OQX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.05157, + -2.91559, + 13.07496 + ], + "start_rotation": [ + 0, + 0.98844, + 0, + 0.15161 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.24814, + "euclidean_distance": 2.12352, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.89592, + -2.91559, + 12.07624 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33CID57106WIZMUM1S0NE8BV8TS3LY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.03137, + 0.68441, + -0.20147 + ], + "start_rotation": [ + 0, + 0.26358, + 0, + -0.96464 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.75627, + "euclidean_distance": 6.70262, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64294, + 3.48441, + 5.40208 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "67d9b711455f43db8e5270016d4bd873", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33IZTU6J834HJXWQ5Q4CXAEU8M8SXH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.81106, + 3.48445, + 7.64695 + ], + "start_rotation": [ + 0, + 0.53238, + 0, + 0.84651 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.63263, + "euclidean_distance": 6.27126, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.24115, + 0.08441, + 6.11973 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:3WZ36BJEV5JBLU64PUHKIIJOQZOBTZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.10535, + 0.08441, + 13.91826 + ], + "start_rotation": [ + 0, + 0.99018, + 0, + 0.13977 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 23.90607, + "euclidean_distance": 13.8384, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.38651, + 3.48441, + 3.39557 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "6c58b3d5819e4ca8b896f81230477c7e", + "path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3S96KQ6I9O740R4O3Q8QD87OUPIDT1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.11415, + 0.08441, + 11.52483 + ], + "start_rotation": [ + 0, + 0.85947, + 0, + -0.51118 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.57563, + "euclidean_distance": 7.71934, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.51542, + 3.48441, + 5.64319 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3XUHV3NRVM1JR5Y0OQ9I1DG85575HA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.31096, + 0.68441, + -0.27212 + ], + "start_rotation": [ + 0, + 0.53449, + 0, + 0.84517 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.07953, + "euclidean_distance": 7.25038, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.36627, + 3.48441, + 5.8673 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_131_newN_1", + "path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:38YMOXR4MW2X7ZT3O85NUM4VHVV6W6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.05441, + 0.08441, + 11.10091 + ], + "start_rotation": [ + 0, + 0.96994, + 0, + 0.24334 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.58521, + "euclidean_distance": 6.94972, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.46642, + 3.48441, + 5.69403 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "a6ce5d580416478b847a83a2c537a637", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3DY4FPOOA3RDETRIQM3PJFCD69PVR1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.50638, + 0.68441, + 1.99015 + ], + "start_rotation": [ + 0, + 0.63204, + 0, + -0.77493 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.50947, + "euclidean_distance": 3.60368, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.32448, + 3.48441, + 3.29564 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:31Z0PCVWUMIOJI3ECD54DGXS78F7TP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.93783, + 0.08441, + 16.72469 + ], + "start_rotation": [ + 0, + 0.9997, + 0, + -0.02448 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 28.947, + "euclidean_distance": 12.00092, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.4935, + 3.50285, + 6.17422 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:33F859I568GLGLF9P00V4ZG0G8GBHJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.88776, + 0.08441, + 13.67124 + ], + "start_rotation": [ + 0, + 0.17307, + 0, + 0.98491 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 24.44229, + "euclidean_distance": 8.42335, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.57161, + 3.48922, + 6.06615 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "ACM3TPZKLE7WC:3S4AW7T80DL3HIDQ1656OD31NXZ4L4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.60338, + 0.08441, + 11.82643 + ], + "start_rotation": [ + 0, + 0.82106, + 0, + 0.57084 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 2.44891, + "euclidean_distance": 2.01765, + "closest_goal_object_id": 254, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.4115, + 0.08441, + 12.79609 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "8072791758d146aba5ff98920a81fa0c" + ], + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ZSANO2JCHA0JB555WYQR3EN4IQFST", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.35839, + 0.08441, + 16.03311 + ], + "start_rotation": [ + 0, + 0.7881, + 0, + 0.61555 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.98214, + "euclidean_distance": 7.24595, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.0233, + 0.08441, + 9.02538 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3DR23U6WE7H9SXIOZLJAJQP9U2TTEM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.85831, + -2.91559, + 12.90636 + ], + "start_rotation": [ + 0, + 0.91151, + 0, + 0.41129 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.35367, + "euclidean_distance": 3.88838, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.89109, + -2.91559, + 12.06316 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "4b77e304d83943999198c3cd4457512c" + ], + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3VD82FOHKSREI7T27DRGZSJJAHZCOO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.10262, + 0.08441, + 2.45794 + ], + "start_rotation": [ + 0, + 0.02011, + 0, + 0.9998 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.735, + "euclidean_distance": 4.04249, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.82052, + 0.68441, + 2.48477 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3STRJBFXOYUCEXAYV7UDHL2EEV3KT3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.80581, + 0.08441, + 9.70101 + ], + "start_rotation": [ + 0, + 0.85559, + 0, + -0.51766 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 23.67666, + "euclidean_distance": 5.91477, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67969, + 3.48441, + 5.44022 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3P1L2B7AD3S7LBN8KQKF2B963LBLO0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.31198, + -2.91559, + 10.83047 + ], + "start_rotation": [ + 0, + 0.86705, + 0, + -0.49822 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.67943, + "euclidean_distance": 3.51389, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.9594, + -2.91559, + 11.92678 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3D3VGR7TA2IT2KPZ6CXJ0KKUELGR3B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.65644, + -2.31559, + 1.17366 + ], + "start_rotation": [ + 0, + 0.86721, + 0, + -0.49794 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.82442, + "euclidean_distance": 3.93278, + "closest_goal_object_id": 486, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.57638, + -2.31559, + -0.89553 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ] + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3T3IWE1XG8QYP08T8CEAD7ENCXNQTK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.94958, + -2.31559, + 0.16792 + ], + "start_rotation": [ + 0, + 0.48867, + 0, + 0.87247 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.70381, + "euclidean_distance": 6.60545, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.90661, + -2.91559, + 5.38726 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ] + }, + { + "episode_id": "AXAO7UJYYEFCO:304SM51WA57A6UTP0UCU8DN2PIDBSI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.68761, + 0.08441, + 9.00576 + ], + "start_rotation": [ + 0, + 0.31174, + 0, + 0.95017 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 19.76496, + "euclidean_distance": 6.42268, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55521, + 3.48441, + 5.63529 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3XIQGXAUMEBV0ZCYHN612JIYK0F7XC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.41263, + 0.68441, + -2.88395 + ], + "start_rotation": [ + 0, + 0.30365, + 0, + -0.95278 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.26979, + "euclidean_distance": 9.57474, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.44276, + 3.48441, + 5.88798 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3RXCAC0YITSOERMR2IY3SXEYT5F8GL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.70377, + -2.31559, + -1.20307 + ], + "start_rotation": [ + 0, + 0.1912, + 0, + 0.98155 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 2.73563, + "euclidean_distance": 2.4855, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.69227, + -2.31559, + -0.23279 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "f3d9a22621e14992b8b3fb9776f0395b", + "path": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A334BFWVFS4B41:3UWN2HHPU08C73IM3KH3Z8NW6B8SND", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.49283, + -2.31559, + -2.72635 + ], + "start_rotation": [ + 0, + 0.89788, + 0, + 0.44024 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.86427, + "euclidean_distance": 14.60087, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.96157, + -2.91559, + 11.86479 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3KAKFY4PGW5G9LMGGP3AMSJ3SSQI3Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.02726, + -2.91559, + 4.92003 + ], + "start_rotation": [ + 0, + 0.99582, + 0, + 0.09131 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 4.93328, + "euclidean_distance": 4.65216, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64819, + -2.31559, + 0.30496 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "d7ec37565be24b1ca1d4f99c34fc1632", + "path": [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:317HQ483I9VNDPFQY8NPV6H9W7ZNIW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.98135, + -2.91559, + 9.0322 + ], + "start_rotation": [ + 0, + 0.12913, + 0, + 0.99163 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 13.66581, + "euclidean_distance": 12.41592, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.31603, + -2.31559, + -3.41449 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + "e345211511824219a62f1b8d639c477e", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3YGXWBAF72KAEEJKOTC7LUDETN0C49", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.59555, + 3.48441, + 6.507 + ], + "start_rotation": [ + 0, + 0.36196, + 0, + 0.93219 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.08336, + "euclidean_distance": 8.39903, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74677, + 0.68441, + -0.76488 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3CTOC39K39TU5F790JR0BAAJA9AJ7P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.56767, + 0.08441, + 12.84933 + ], + "start_rotation": [ + 0, + 0.76205, + 0, + 0.64752 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 25.05402, + "euclidean_distance": 9.08265, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.52432, + 3.50132, + 6.17057 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "80f652ffcdfa47ada388a00233624799", + "path": [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3BWI6RSP7ICMUZLHMIG9EUXR4YK7ER", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.13122, + 3.48441, + 5.92956 + ], + "start_rotation": [ + 0, + 0.64153, + 0, + -0.7671 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 7.72371, + "euclidean_distance": 7.18264, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.90574, + 0.68441, + -0.65314 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "425e120b2d7742b1a8f0902355908761", + "path": [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DQQ64TANIO5H5B8344W0MVCC14WPN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.31019, + 1.55756, + 0.97218 + ], + "start_rotation": [ + 0, + 0.98354, + 0, + 0.18068 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.09241, + "euclidean_distance": 9.245, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99573, + 0.08441, + 9.99455 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "50476a17346a4879906f81b47b9418de", + "path": [ + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "refined_path": [ + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3018Q3ZVOKTTM5OKFRCTNSY0LY8RAE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.18375, + 0.25413, + 3.6761 + ], + "start_rotation": [ + 0, + 0.99941, + 0, + -0.03431 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.25953, + "euclidean_distance": 5.90229, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.18328, + 0.68441, + -2.14789 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:340UGXU9D045ULJZUGYUOQZXC3LUVL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.97882, + -2.89512, + 12.84112 + ], + "start_rotation": [ + 0, + 0.95938, + 0, + -0.28212 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.12823, + "euclidean_distance": 4.68898, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.73244, + -2.91559, + 13.27863 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3KGTPGBS6ZOWXULX66EJML2MF7U2UR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.97961, + -2.74713, + 9.20009 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + -0.00914 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 13.28164, + "euclidean_distance": 10.28438, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.85782, + -2.31559, + 0.23677 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39RP059MEJW78ZGKGXG8W4OWXWJMBB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.08328, + 0.08441, + 9.5994 + ], + "start_rotation": [ + 0, + 0.71689, + 0, + 0.69719 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.49053, + "euclidean_distance": 6.51491, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.86822, + 3.48441, + 14.82512 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "a6ce5d580416478b847a83a2c537a637", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3COPXFW7XDFEM5HREQLTCB1HOMUPK2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.60504, + 0.08441, + 16.37907 + ], + "start_rotation": [ + 0, + 0.40871, + 0, + 0.91266 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.06101, + "euclidean_distance": 3.70633, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.23998, + 0.08441, + 13.5234 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:33TIN5LC06DOENQ11GQNZTGDI70Y9B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.81866, + -2.31559, + -2.87906 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + -0.0102 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.82006, + "euclidean_distance": 18.62562, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.36192, + -2.91559, + 15.60634 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:30X31N5D65T5NKOXUGCYD23W720SAG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.45313, + -2.91559, + 12.87125 + ], + "start_rotation": [ + 0, + 0.19939, + 0, + -0.97992 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.23233, + "euclidean_distance": 6.16672, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.76262, + -2.91559, + 16.03086 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:38JBBYETQQDPBC3YKKI2BIDHDVUE4C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.0046, + 0.08441, + 13.6523 + ], + "start_rotation": [ + 0, + 0.96443, + 0, + -0.26433 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.03002, + "euclidean_distance": 8.99026, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.60196, + 3.48441, + 5.51518 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + [ + "649a58719cd7455ebe18675c9719dfa7" + ], + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:392CY0QWG3U1RH5KG38TWXB95PCI42", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.90336, + 0.08441, + 8.20432 + ], + "start_rotation": [ + 0, + 0.66579, + 0, + 0.74614 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.61894, + "euclidean_distance": 8.39981, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.09323, + 0.68441, + 0.30703 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0927e4d3dc3e4c8590fd3f7dc512a130", + "path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:30JNVC0ORBN8KRHY8IXLZOBZ2BKQHJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.12832, + -2.91559, + 9.15712 + ], + "start_rotation": [ + 0, + 0.51551, + 0, + 0.85688 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 9.61185, + "euclidean_distance": 8.96156, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71892, + -2.31559, + 0.36263 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "3107120d425e424dacedb73bf44e9094", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3LRKMWOKB7KDJTF7CTDR3DH1HOYZ20", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.18434, + -2.91559, + 12.2624 + ], + "start_rotation": [ + 0, + 0.36764, + 0, + -0.92997 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.95396, + "euclidean_distance": 5.76992, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.35657, + -2.91559, + 15.3777 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3SKEMFQBZ58TGDIAS9JIQP6RZC88KF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.52662, + -2.31559, + 1.81914 + ], + "start_rotation": [ + 0, + 0.35094, + 0, + 0.9364 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 8.04103, + "euclidean_distance": 4.42352, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.91236, + -2.31559, + -2.35047 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LBXNTKX0TYZEI0RWK4LGF94FVD9XA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.22762, + -2.91559, + 13.26391 + ], + "start_rotation": [ + 0, + 0.37949, + 0, + -0.9252 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 16.52002, + "euclidean_distance": 13.12813, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71379, + -2.31559, + 0.29153 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3B4YI393VBZ9NGARBGYPY2X2SZ5SSR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.65777, + -2.91559, + 11.94012 + ], + "start_rotation": [ + 0, + 0.17195, + 0, + 0.98511 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 5.30064, + "euclidean_distance": 5.05852, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.47278, + -2.91559, + 16.15879 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3DR23U6WE7H9SXIOZLJAJQP9UZ9ETH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.4797, + -2.91559, + 12.22497 + ], + "start_rotation": [ + 0, + 0.91811, + 0, + -0.39632 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.33869, + "euclidean_distance": 5.24112, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.38248, + -2.91559, + 15.53547 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33M4IA01QI45IIWDQ147709YLDCRX0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.15947, + 0.08441, + 14.08453 + ], + "start_rotation": [ + 0, + 0.88215, + 0, + -0.47096 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 26.35054, + "euclidean_distance": 10.34459, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.55822, + 3.4917, + 6.08618 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "80f652ffcdfa47ada388a00233624799", + "path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:3OVR4I9USRME8FT3TBD25Z2VX4JQ4E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.39358, + -2.91559, + 11.76978 + ], + "start_rotation": [ + 0, + 0.95655, + 0, + -0.29156 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.56326, + "euclidean_distance": 3.44764, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69266, + -2.91559, + 13.40483 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "9a10d725e7334967a8ca89b2a61c446e", + "path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:32KTQ2V7RFIOK61NID2C5YT69URM98", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.49127, + 3.58344, + 8.43858 + ], + "start_rotation": [ + 0, + 0.92205, + 0, + 0.38707 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.0917, + "euclidean_distance": 10.01495, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.50573, + 0.80293, + -0.31531 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3I0BTBYZAZO6IT2O1K7U6IFKET0Y08", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.28059, + -2.91559, + 6.64751 + ], + "start_rotation": [ + 0, + 0.68087, + 0, + -0.73241 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.33973, + "euclidean_distance": 6.95126, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.33964, + -2.86603, + 10.06679 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_208_newN_0", + "path": [ + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3YMTUJH0DUJR0VLVAF7XA4DIH90T49", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.98441, + 3.65642, + 8.3514 + ], + "start_rotation": [ + 0, + 0.97259, + 0, + 0.23251 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.20436, + "euclidean_distance": 9.42731, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.42869, + 0.68441, + -0.31555 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + [ + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:358010RM5GWXBPDUZL9H8XY16JFVXN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.66013, + -2.51559, + 13.96252 + ], + "start_rotation": [ + 0, + 0.08004, + 0, + -0.99679 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.79595, + "euclidean_distance": 2.36016, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.59082, + -2.91559, + 16.08707 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3LPW2N6LKV5OWR4KOPGHKS5Y0JAU5E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.8167, + 0.08441, + 14.45448 + ], + "start_rotation": [ + 0, + 0.33227, + 0, + 0.94318 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.78341, + "euclidean_distance": 1.67071, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.07541, + 0.08441, + 14.37477 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32SVAV9L3HC1333I41BX5UVKFO73A9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.9205, + 3.58967, + 10.58221 + ], + "start_rotation": [ + 0, + 0.97737, + 0, + 0.21153 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.78261, + "euclidean_distance": 11.92575, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.78226, + 0.68441, + -0.79038 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A28HB7240OFGEW:3IGI0VL649NX9BQTW30UF3DV8CINO3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.21711, + 0.08441, + 10.13067 + ], + "start_rotation": [ + 0, + 0.9866, + 0, + -0.16313 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.35033, + "euclidean_distance": 7.05113, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.57806, + 3.49488, + 6.12589 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_128_newN_0", + "path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3G5W44VEU9L89SOSB7V6I2NPNYSKGK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.75626, + 0.18323, + 5.02551 + ], + "start_rotation": [ + 0, + 0.35926, + 0, + -0.93324 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 17.19669, + "euclidean_distance": 6.63082, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.60327, + 0.08441, + 7.24429 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + [ + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3NPI0JQDAQ8DPO7E8ZZLD2OD72TPTM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.51965, + 0.68441, + 0.97798 + ], + "start_rotation": [ + 0, + 0.14595, + 0, + 0.98929 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.15652, + "euclidean_distance": 10.73612, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00439, + 0.08441, + 10.1022 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3X31TUMD7ZPMPJG7EOM4QFWYA8FL1N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.87007, + 0.08441, + 16.09837 + ], + "start_rotation": [ + 0, + 0.85488, + 0, + 0.51882 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 28.93414, + "euclidean_distance": 10.82802, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43849, + 3.49917, + 6.11592 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3II4UPYCOLAR8BCWMMEV83W19CFQDJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.23119, + 0.68441, + 1.86774 + ], + "start_rotation": [ + 0, + 0.28151, + 0, + -0.95956 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 15.17412, + "euclidean_distance": 5.7175, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69883, + 3.48441, + 5.33944 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3TN1QCPUCJZBF:3PZDLQMM0VO0B04XKFTJSFGG9AQC21", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.42583, + -2.91559, + 9.21579 + ], + "start_rotation": [ + 0, + 0.77915, + 0, + -0.62684 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.5396, + "euclidean_distance": 8.21474, + "closest_goal_object_id": 463, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.02674, + -2.31559, + 2.36207 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3H0W84IWBM5WCI5WVWEFJBOR5BMREK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.59509, + 0.08441, + 11.80605 + ], + "start_rotation": [ + 0, + 0.33503, + 0, + 0.94221 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 16.18625, + "euclidean_distance": 12.26102, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.05833, + 0.68441, + -0.17826 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:373ERPL3YQBY11NTLR3AIXOS8HLTRG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.42447, + 0.08441, + 16.26381 + ], + "start_rotation": [ + 0, + 0.9879, + 0, + 0.15507 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.09138, + "euclidean_distance": 10.7698, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.52433, + 3.49738, + 6.13072 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3FPRZHYEP0ALVR6GFW2T1H9X0U1V3N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.1772, + 0.08441, + 14.69106 + ], + "start_rotation": [ + 0, + 0.97214, + 0, + -0.2344 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.63595, + "euclidean_distance": 8.41602, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.07791, + 0.08441, + 9.01842 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "03a8325e3b054e3fad7e1e7091f9d283", + "path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "AHIJACUG7ZL9B:3OUYGIZWR91C9FANAXBBTRM8BY50P9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.96207, + -2.91559, + 9.83925 + ], + "start_rotation": [ + 0, + 0.76347, + 0, + -0.64584 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.00466, + "euclidean_distance": 2.15981, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.79187, + -2.91559, + 11.6929 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TYCR1GOTEMJKF1FMZVWI9GAOUULZT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.73912, + -2.91559, + 16.03222 + ], + "start_rotation": [ + 0, + 0.99549, + 0, + -0.09488 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 18.83211, + "euclidean_distance": 16.4821, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.66389, + -2.31559, + 0.29974 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3Z9WI9EOZ1RM9OJ3VDDO32ZQ2X9HKI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.85725, + 0.08441, + 6.41119 + ], + "start_rotation": [ + 0, + 0.97116, + 0, + 0.23843 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.7822, + "euclidean_distance": 10.95215, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.54235, + 0.68441, + -3.04658 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M81GAB8A2MYTEEC8QNPDD817YMBQV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.31882, + -2.91559, + 14.14898 + ], + "start_rotation": [ + 0, + 0.76511, + 0, + -0.6439 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 2.26965, + "euclidean_distance": 1.66975, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.41656, + -2.91559, + 15.4417 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3K3R2QNK8D67XE6WRFTYW8A0LCWU91", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.52773, + -2.91559, + 15.61244 + ], + "start_rotation": [ + 0, + 0.98848, + 0, + -0.15133 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.51939, + "euclidean_distance": 5.99745, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.40862, + -2.91559, + 14.74677 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3U5NZHP4LT5NKFGJ85IWZJLPXF8PH1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.34536, + 0.08441, + 6.69847 + ], + "start_rotation": [ + 0, + 0.99991, + 0, + -0.01329 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.30572, + "euclidean_distance": 1.93807, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.37944, + 0.08441, + 6.40912 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3JNQLM5FT6PTE4Y3XSMIVY632D3L2C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.91927, + -2.31559, + 0.49601 + ], + "start_rotation": [ + 0, + 0.84017, + 0, + 0.54232 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 19.79355, + "euclidean_distance": 9.7081, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.1963, + -2.84512, + 9.9708 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3M0NZ3JDP315IQYUUCFP1KKD1Z0Z5E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.36835, + -2.31559, + -2.80151 + ], + "start_rotation": [ + 0, + 0.90938, + 0, + 0.41597 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.73645, + "euclidean_distance": 1.31932, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.67694, + -2.31559, + -3.46995 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3S06PH7KST73R7SF17OG72OT27ZD12", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.51964, + 3.62947, + 7.72264 + ], + "start_rotation": [ + 0, + 0.12087, + 0, + 0.99267 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.46721, + "euclidean_distance": 8.72812, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.3349, + 0.68441, + -0.33718 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3E47SOBEYSZ4MLIZ9IEBFVNXY97CI2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.93682, + 0.68441, + 0.56939 + ], + "start_rotation": [ + 0, + 0.77909, + 0, + -0.62692 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.93904, + "euclidean_distance": 6.50064, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61958, + 3.48441, + 5.35776 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3K9FOBBF2JMP3QNWJBK2NM91ED8NLU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.91247, + 3.48441, + 15.10432 + ], + "start_rotation": [ + 0, + 0.27043, + 0, + 0.96274 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.92502, + "euclidean_distance": 2.83312, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.92279, + 3.48441, + 14.81051 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A28HB7240OFGEW:3STRJBFXOYUCEXAYV7UDHL2EEYKTKZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.90373, + 3.64055, + 8.43186 + ], + "start_rotation": [ + 0, + 0.04361, + 0, + 0.99905 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.2889, + "euclidean_distance": 5.61856, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.09262, + 0.08441, + 10.0333 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + [ + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3DYGAII7PNB0X8FMRV5Q8XDQNU2QPF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.11408, + 3.48441, + 14.23431 + ], + "start_rotation": [ + 0, + 0.33949, + 0, + 0.94061 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.67797, + "euclidean_distance": 15.28166, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.80874, + 0.68441, + -0.72427 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YW4XOSQKSOP8931N2E5H2SHN061UX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.93414, + 0.68441, + 1.22557 + ], + "start_rotation": [ + 0, + 0.45937, + 0, + -0.88824 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.479, + "euclidean_distance": 5.96297, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76108, + 3.48441, + 5.41922 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OXV7EAXLGT0G1RFEOULPPTYIYK367", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.24788, + 0.45386, + 3.15929 + ], + "start_rotation": [ + 0, + 0.76574, + 0, + 0.64314 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.07958, + "euclidean_distance": 12.03653, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.88233, + 3.48441, + 14.85173 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3MX2NQ3YCBXGDVYFTUR44Z42U45X5T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.03424, + -2.41861, + 2.90276 + ], + "start_rotation": [ + 0, + 0.14645, + 0, + -0.98922 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 3.75042, + "euclidean_distance": 3.4541, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.59466, + -2.31559, + -0.11365 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "e345211511824219a62f1b8d639c477e", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3MB8LZR5BHWOVK2TMYSMVUSXJEDLKO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.24278, + -2.31559, + -3.24031 + ], + "start_rotation": [ + 0, + 0.13009, + 0, + 0.9915 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 5.91015, + "euclidean_distance": 4.67348, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.77018, + -2.31559, + 0.04873 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3MAOD8E57SDK3K4LXUNQYG4OKKHXNK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.21435, + 0.08441, + 3.91748 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + -0.00327 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.92739, + "euclidean_distance": 6.18882, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.13621, + 0.68441, + -2.15468 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_234_newN_0", + "path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:379J5II41QJL9KAJQCHJXZFSZFZLEI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.60687, + 0.68441, + -2.43892 + ], + "start_rotation": [ + 0, + 0.98407, + 0, + -0.17779 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.37209, + "euclidean_distance": 8.69983, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.52776, + 3.48441, + 5.85071 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YMU66OBIPBH72NK5MS95A7XVGMHG9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.39302, + 0.08441, + 4.42483 + ], + "start_rotation": [ + 0, + 0.06094, + 0, + -0.99814 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 14.00466, + "euclidean_distance": 3.68268, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71968, + 3.48441, + 5.35707 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3JAOYWH7VK74EOJ2I11X5LEH9OW9LM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.16587, + -2.40125, + -3.43471 + ], + "start_rotation": [ + 0, + 0.07388, + 0, + 0.99727 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.93489, + "euclidean_distance": 3.50666, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.18678, + -2.31559, + -2.26784 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "7b99fad7a2b243dea6b50dc65d03fbc7", + "path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3M23Y66PO4A40ICU43VMXX1ABKBS6T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.34517, + 0.68441, + -0.80227 + ], + "start_rotation": [ + 0, + 0.42697, + 0, + 0.90426 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.66007, + "euclidean_distance": 1.96508, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.18585, + 0.68441, + -2.03415 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3L0KT67Y8GJ6J2M0AMQEGOL3AR3SYM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.24517, + -2.91559, + 12.6505 + ], + "start_rotation": [ + 0, + 0.29174, + 0, + 0.9565 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.94795, + "euclidean_distance": 4.15014, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.42006, + -2.91559, + 14.69631 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "d962509cdba64e6ca76a6228582eb901" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3A9AA95ATYPB4MWO73HNAMIZRYLP57", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.24131, + -2.88151, + 12.84584 + ], + "start_rotation": [ + 0, + 0.63821, + 0, + -0.76987 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.47648, + "euclidean_distance": 3.42974, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.75021, + -2.91559, + 15.29619 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3RGU30DZTCBDQIEW4PTPUS7951WJMX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.08178, + 0.08441, + 12.74847 + ], + "start_rotation": [ + 0, + 0.02692, + 0, + -0.99964 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.41063, + "euclidean_distance": 8.72503, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49958, + 3.48441, + 5.6892 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3OVR4I9USRME8FT3TBD25Z2VX354QC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.63831, + -2.31559, + -2.61651 + ], + "start_rotation": [ + 0, + 0.99199, + 0, + 0.12634 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.44679, + "euclidean_distance": 3.11307, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.70229, + -2.31559, + 0.20127 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "5908a457f37a470aa0e8cd389f31d438", + "path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3B1P3B6X3AM2B:3VNL7UK1XHM1YBIKUW3G18A962SFT8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.07166, + -2.91559, + 12.41056 + ], + "start_rotation": [ + 0, + 0.40541, + 0, + 0.91413 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.12449, + "euclidean_distance": 3.86585, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75115, + -2.91559, + 13.27688 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_153_newN_0", + "path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A22VLXXVIEJSD1:3VNXK88KKEL7ATVWW533SUCJ0P6V95", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.0127, + 0.68441, + -2.67144 + ], + "start_rotation": [ + 0, + 0.99561, + 0, + -0.09364 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.29446, + "euclidean_distance": 9.76253, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25536, + 0.08441, + 6.07555 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "87f68627d919449995ed93f6ae72e6ab", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3QJOXOW4XLU5F2S4QOIYXCUH0REMEP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.49739, + 0.1979, + 4.62892 + ], + "start_rotation": [ + 0, + 0.13122, + 0, + 0.99135 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.80819, + "euclidean_distance": 2.50974, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.32313, + 0.68441, + 2.38924 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "ALCPF5NANBDSZ:3LUY3GC6313QRQA7VWWK86WVI5QP7Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.9712, + -2.31559, + -2.31515 + ], + "start_rotation": [ + 0, + 0.99596, + 0, + 0.08981 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.54072, + "euclidean_distance": 2.08259, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.66868, + -2.31559, + -3.37024 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3BQU611VFRN9DMITT4Y70CNM8O5992", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.12782, + 0.08441, + 6.26625 + ], + "start_rotation": [ + 0, + 0.7564, + 0, + 0.65411 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 8.84798, + "euclidean_distance": 7.4514, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.75506, + 0.08441, + 13.56744 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "fc4462fb87874bc8b6d77e45806168df", + "path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "refined_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3ZSY5X72NZEIO9ILPAHBONI5AGNORN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.24204, + 0.08441, + 4.15029 + ], + "start_rotation": [ + 0, + 0.1959, + 0, + 0.98062 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.06702, + "euclidean_distance": 3.58782, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.798, + 0.68441, + 2.45597 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_234_newN_0", + "path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3UNH76FOCU83L79VQPUS4FMXHZSYMG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.17722, + 0.08441, + 10.20378 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00483 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.91255, + "euclidean_distance": 5.29321, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05421, + 0.08441, + 9.97945 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_128_newN_0", + "path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QILPRALQ7YUOJ3DPMBYIHNVT7G8NN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.59608, + 0.08441, + 9.6449 + ], + "start_rotation": [ + 0, + 0.65437, + 0, + -0.75618 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.87582, + "euclidean_distance": 7.04983, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.45919, + 3.4983, + 6.1151 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_128_newN_0", + "path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3IFS6Q0HJKMKT27V644BU0RFK9SSI5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.62521, + -2.91559, + 13.15675 + ], + "start_rotation": [ + 0, + 0.99446, + 0, + -0.10511 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 1.8794, + "euclidean_distance": 1.63221, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.05905, + -2.91559, + 14.71489 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "c6a181682e8f4c55b27287031ed7ddcd", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3K5TEWLKGXE0LUOZ0Z9G5NBMJD6IVK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.27158, + 0.08441, + 10.56504 + ], + "start_rotation": [ + 0, + 0.53455, + 0, + -0.84513 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 21.75098, + "euclidean_distance": 6.51581, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.70318, + 3.48441, + 5.37518 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "8072791758d146aba5ff98920a81fa0c", + "path": [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c" + ], + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3DY4FPOOA3RDETRIQM3PJFCD686RVC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.90181, + 0.68441, + 1.2769 + ], + "start_rotation": [ + 0, + 0.34452, + 0, + -0.93878 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 11.21465, + "euclidean_distance": 4.95402, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61538, + 3.48441, + 5.47867 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3OJSZ2ATDUZMYGSOBHN6A0RER4A57B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.71701, + 0.68441, + -2.82912 + ], + "start_rotation": [ + 0, + 0.59602, + 0, + -0.80297 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.11508, + "euclidean_distance": 8.95417, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.53791, + 3.48441, + 5.59601 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34PGFRQONQE9VU8A8RZC3Q9035AWJ5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.87897, + 0.08441, + 10.77917 + ], + "start_rotation": [ + 0, + 0.56794, + 0, + 0.82307 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.46362, + "euclidean_distance": 6.76988, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.78813, + 3.48441, + 5.37059 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3VJ40NV2QKQV4OVDTZM6O2JNY1PTOA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.26986, + 3.53301, + 6.28765 + ], + "start_rotation": [ + 0, + 0.99846, + 0, + 0.05545 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.63711, + "euclidean_distance": 2.35738, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.28235, + 3.48441, + 4.38983 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3HQUKB7LNHHV7YIVPSARQAJY7NCHHW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.51367, + -2.87917, + 9.11514 + ], + "start_rotation": [ + 0, + 0.68626, + 0, + -0.72735 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.11554, + "euclidean_distance": 4.47759, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.79583, + -2.91559, + 11.77435 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3TE3O85732B4H2TG2CJEHAF25C8R2Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.59441, + 3.5525, + 6.45186 + ], + "start_rotation": [ + 0, + 0.03254, + 0, + 0.99947 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.37342, + "euclidean_distance": 5.03441, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25055, + 0.08441, + 6.16361 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3FIJLY1B6W736JPDDFUWWY9CDYXPFX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.11442, + -2.91559, + 10.69743 + ], + "start_rotation": [ + 0, + 0.984, + 0, + 0.17818 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.90279, + "euclidean_distance": 3.18139, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.78177, + -2.91559, + 13.3546 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3107120d425e424dacedb73bf44e9094", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3QILPRALQ7YUOJ3DPMBYIHNVQFR8NB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.58316, + -2.91559, + 6.95349 + ], + "start_rotation": [ + 0, + 0.41265, + 0, + 0.91089 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 9.0812, + "euclidean_distance": 7.65529, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.80722, + -2.31559, + 0.26276 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3F0BG9B9MRQK0428MJS3LXP7JFN7YB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.73538, + -2.91559, + 12.97104 + ], + "start_rotation": [ + 0, + 0.99335, + 0, + 0.1151 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.2434, + "euclidean_distance": 2.44603, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.76755, + -2.91559, + 13.27698 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3ZDAD0O1T3GIYX95UQ927FAG66ATXT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.30972, + 0.08441, + 11.60816 + ], + "start_rotation": [ + 0, + 0.94258, + 0, + -0.33398 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.5603, + "euclidean_distance": 3.12869, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.09752, + 0.08441, + 9.01539 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "8072791758d146aba5ff98920a81fa0c", + "path": [ + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c" + ], + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3W2LOLRXLDIZYIX6RIPIH61WMCTRKK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.5517, + 3.48441, + 16.90839 + ], + "start_rotation": [ + 0, + 0.17923, + 0, + 0.98381 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 21.46251, + "euclidean_distance": 17.36437, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.40412, + 0.68441, + -0.25425 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3RU7GD8VPQWCAOUZJZUV3XSR2OPPSE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.70796, + -2.91559, + 12.95996 + ], + "start_rotation": [ + 0, + 0.1663, + 0, + -0.98608 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.9564, + "euclidean_distance": 4.40827, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.6952, + -2.91559, + 13.3389 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A1RC2ETLOSZGP0:3I0BTBYZAZO6IT2O1K7U6IFKB19Y0U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.0899, + 3.73543, + 13.42536 + ], + "start_rotation": [ + 0, + 0.95567, + 0, + 0.29444 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.8166, + "euclidean_distance": 14.78871, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.43946, + 0.78407, + -0.42939 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A314XJY8V1YL12:3JRJSWSMQJO4TGKUK6DJ1DLBW1UE3W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.53813, + 3.48441, + 6.90994 + ], + "start_rotation": [ + 0, + 0.32075, + 0, + -0.94716 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.15844, + "euclidean_distance": 8.72425, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.82924, + 0.68441, + -0.69877 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3N4BPTXIOAVREAPNVCKNMHOGTBZKUJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.281, + 0.08441, + 6.06448 + ], + "start_rotation": [ + 0, + 0.9514, + 0, + 0.30797 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.16712, + "euclidean_distance": 7.88862, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.87565, + 0.68441, + -0.28853 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3H7XDTSHKEUZ4SI90LE96DHK7BDGWX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.10728, + -2.31559, + 2.39928 + ], + "start_rotation": [ + 0, + 0.4356, + 0, + 0.90014 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.88315, + "euclidean_distance": 7.59787, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69659, + -2.31559, + -3.34138 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:37TD41K0AJCTGZLVEU8PJXTK228SCU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.42611, + -2.91559, + 15.39524 + ], + "start_rotation": [ + 0, + 0.63632, + 0, + -0.77142 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.7326, + "euclidean_distance": 2.98367, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32712, + -2.91559, + 15.46264 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3UXUOQ9OKG0J4M456DENIB70GO77AO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.53819, + 3.48441, + 14.4794 + ], + "start_rotation": [ + 0, + 0.10259, + 0, + -0.99472 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.59983, + "euclidean_distance": 15.7548, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.839, + 0.68441, + -0.66513 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:36NEMU28XHGZW2EVBOC4JI1H3W9MWT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.08981, + 3.53205, + 7.60576 + ], + "start_rotation": [ + 0, + 0.44926, + 0, + 0.8934 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.2673, + "euclidean_distance": 9.1158, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.42532, + 0.79217, + -0.18142 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:32VNZTT0A97EKG836Q22APC0PQE4RI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.24085, + 0.08441, + 12.03588 + ], + "start_rotation": [ + 0, + 0.9092, + 0, + -0.41637 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.65808, + "euclidean_distance": 12.88683, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.85375, + 0.68441, + -0.31964 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3HHRAGRYXA8CK9MZVTHPX2IB0V79O9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.45905, + -2.91559, + 13.2761 + ], + "start_rotation": [ + 0, + 0.42546, + 0, + -0.90498 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.33328, + "euclidean_distance": 2.83031, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.57007, + -2.91559, + 16.07525 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3O6CYIULEF4I9AJ4KQ3QASIBGI9UWQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.13049, + 3.48441, + 9.32187 + ], + "start_rotation": [ + 0, + 0.97205, + 0, + 0.23477 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.74391, + "euclidean_distance": 10.35747, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.52906, + 0.79899, + -0.3955 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3E337GFOLBB9HY9V8KNMAU4TEYNGNI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.31782, + 0.08441, + 4.45762 + ], + "start_rotation": [ + 0, + 0.60629, + 0, + 0.79524 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.27003, + "euclidean_distance": 5.22081, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.25642, + 0.08441, + 6.71497 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0_edge_234_newN_0", + "path": [ + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "a6ce5d580416478b847a83a2c537a637", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3IJXV6UZ1ZM8SN7IRF464QMJU9NIRL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.43408, + -2.91559, + 6.42797 + ], + "start_rotation": [ + 0, + 0.35985, + 0, + -0.93301 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.98423, + "euclidean_distance": 5.86317, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.79092, + -2.91559, + 11.71172 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "e345211511824219a62f1b8d639c477e", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "0_edge_233_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DEL4X4EL8OEFJ8Z4WW1FW2VL9OXYK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.89764, + -2.91559, + 9.80637 + ], + "start_rotation": [ + 0, + 0.39584, + 0, + 0.91832 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.56988, + "euclidean_distance": 3.58205, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.76878, + -2.91559, + 11.66227 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A2O8PM0T20UZE3:3SNVL38CI6VVSG8N9LZNSB2AMBYKCF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.23055, + -2.91559, + 6.46112 + ], + "start_rotation": [ + 0, + 0.99909, + 0, + 0.04265 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.30546, + "euclidean_distance": 11.08397, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.78826, + -2.31559, + -3.47189 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "d962509cdba64e6ca76a6228582eb901", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3WI0P0II63VRKCRWZ13VDT66231RDC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.29056, + -2.91559, + 12.61515 + ], + "start_rotation": [ + 0, + 0.4848, + 0, + -0.87462 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.57445, + "euclidean_distance": 16.11451, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.13853, + -2.31559, + -3.35596 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "c6a181682e8f4c55b27287031ed7ddcd", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3GU1KF0O4K4DT2DX8D80D8IRY1FPBR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.41959, + -2.91559, + 8.70134 + ], + "start_rotation": [ + 0, + 0.52743, + 0, + -0.8496 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.47341, + "euclidean_distance": 6.82388, + "closest_goal_object_id": 463, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.06204, + -2.31559, + 2.42985 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39RP059MEJW78ZGKGXG8W4OWTVNMB9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.01437, + 0.08441, + 9.59636 + ], + "start_rotation": [ + 0, + 0.98233, + 0, + 0.18713 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.96879, + "euclidean_distance": 9.78246, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.08731, + 0.68441, + -0.11485 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_245_newN_1", + "path": [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3UUH3632AI3ZX:35USIKEBNTJ7K5KPW7E0Y3R4KKON6R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.96699, + -2.31559, + -2.73083 + ], + "start_rotation": [ + 0, + 0.51753, + 0, + -0.85567 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.92032, + "euclidean_distance": 3.65791, + "closest_goal_object_id": 466, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.08624, + -2.31559, + 0.34094 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408" + ], + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3A9AA95ATYPB4MWO73HNAMIZO4C5PN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.39385, + 0.08441, + 8.7214 + ], + "start_rotation": [ + 0, + 0.3979, + 0, + -0.91743 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.0307, + "euclidean_distance": 5.74268, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37, + 0.08441, + 8.40415 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3YT88D1N0A17FGC4GSOMZ8YGGZXK3V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.04616, + 0.08441, + 13.54582 + ], + "start_rotation": [ + 0, + 0.64386, + 0, + 0.76514 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.21799, + "euclidean_distance": 13.59175, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.19102, + 0.68441, + 0.26051 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "7a663a2787474bc2b09a4e8b21325141", + "path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:34QN5IT0T1UR3NB6OG9075RIIM708J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.92985, + 0.08441, + 16.5903 + ], + "start_rotation": [ + 0, + 0.81903, + 0, + 0.57375 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 1.74583, + "euclidean_distance": 1.74583, + "closest_goal_object_id": 208, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.76686, + 0.08441, + 16.25553 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:39GAF6DQWT3PLOS1SSOADOU0YC7V1F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.41956, + 3.5716, + 6.88188 + ], + "start_rotation": [ + 0, + 0.66069, + 0, + -0.75066 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.13737, + "euclidean_distance": 8.37226, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.70992, + 0.68441, + -0.68913 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3CTOC39K39TU5F790JR0BAAJ6CK7JP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.41486, + -2.91559, + 11.23161 + ], + "start_rotation": [ + 0, + 0.97634, + 0, + -0.21626 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.12784, + "euclidean_distance": 11.33958, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.53768, + -2.31559, + -0.12174 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "0_edge_153_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:36PW28KO41Z4D1JFTLSTOLZH2BLEAR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.42688, + 0.08441, + 7.45484 + ], + "start_rotation": [ + 0, + 0.55644, + 0, + 0.83089 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.94438, + "euclidean_distance": 7.54325, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.12848, + 0.68441, + 0.35908 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0927e4d3dc3e4c8590fd3f7dc512a130", + "path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3180JW2OT6FFIBTQCQC3DQWNF54J5Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.26529, + -2.31559, + 1.61147 + ], + "start_rotation": [ + 0, + 0.23502, + 0, + 0.97199 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.27472, + "euclidean_distance": 4.47604, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.86429, + -2.91559, + 5.3053 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "A26MRON9XGPVB5:31HQ4X3T3UDMJ3F1R71OMGJ7XEYSLT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.07514, + -2.31559, + 0.10964 + ], + "start_rotation": [ + 0, + 0.73785, + 0, + 0.67497 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.4315, + "euclidean_distance": 3.97703, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.70174, + -2.31559, + -3.42293 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3DHE4R9OCYEDSCK2M1P2I61V33EG29", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.17335, + 3.68441, + 11.07275 + ], + "start_rotation": [ + 0, + 0.63855, + 0, + 0.76958 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.26125, + "euclidean_distance": 4.9724, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.08236, + 0.08441, + 10.06518 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "0_edge_131_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "0_edge_113_newN_1", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3LBXNTKX0TYZEI0RWK4LGF94CZ3X9T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.5165, + 3.48441, + 3.14371 + ], + "start_rotation": [ + 0, + 0.36041, + 0, + -0.93279 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.11114, + "euclidean_distance": 7.30057, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.28786, + 0.08441, + 6.04882 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "e60f96413bf448889377affdd919ba35", + "path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35" + ], + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3S4AW7T80DL3HIDQ1656OD31JYML46", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.71466, + 3.48441, + 9.44862 + ], + "start_rotation": [ + 0, + 0.68496, + 0, + -0.72858 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.8751, + "euclidean_distance": 3.51284, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.06966, + 0.08441, + 9.91528 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RXCAC0YITSOERMR2IY3SXEYP368G4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.18166, + -2.11559, + 0.73392 + ], + "start_rotation": [ + 0, + 0.94109, + 0, + 0.33817 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.31009, + "euclidean_distance": 3.74554, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.69981, + -2.31559, + -3.05404 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "c6a181682e8f4c55b27287031ed7ddcd", + "3107120d425e424dacedb73bf44e9094", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3X73LLYYQ3HNHU46SQ54VUGUTY4HNM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.60264, + 0.08441, + 11.36594 + ], + "start_rotation": [ + 0, + 0.16721, + 0, + -0.98592 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.44045, + "euclidean_distance": 11.67482, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.36384, + 3.48441, + 3.41705 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "c1b7a383f8474e7d951ebea82bb82818", + "path": [ + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761" + ], + "refined_path": [ + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:317HQ483I9VNDPFQY8NPV6H9TBUINR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.69606, + -2.8524, + 7.0597 + ], + "start_rotation": [ + 0, + 0.04556, + 0, + 0.99896 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.33175, + "euclidean_distance": 6.70271, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.76934, + -2.91559, + 11.69916 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RU7GD8VPQWCAOUZJZUV3XSR2PIPS9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.25815, + -2.31559, + 1.09215 + ], + "start_rotation": [ + 0, + 0.73528, + 0, + -0.67776 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.29728, + "euclidean_distance": 4.08724, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.5737, + -2.31559, + -3.06659 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3P4RDNWND79RUZO5JAVX2Z0SKRLIJJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.87185, + -2.91559, + 13.55505 + ], + "start_rotation": [ + 0, + 0.81193, + 0, + -0.58375 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 17.07274, + "euclidean_distance": 13.89509, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.5394, + -2.31559, + -0.14755 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "e345211511824219a62f1b8d639c477e", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:30H4UDGLT4L9CTHUZ2Y9ROTLAZHMP9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.14262, + -2.91559, + 6.74026 + ], + "start_rotation": [ + 0, + 0.99934, + 0, + -0.03621 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.54422, + "euclidean_distance": 7.28103, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.70826, + -2.31559, + -0.15419 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6" + ], + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AB7MYP65HZ2MH:3J2UYBXQQNF4Z9SIV1C2NRVRCRL061", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.69341, + -2.91559, + 5.78444 + ], + "start_rotation": [ + 0, + 0.06212, + 0, + 0.99807 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 6.91703, + "euclidean_distance": 5.81442, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76098, + -2.31559, + 0.29976 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "99fa48d974fa43988f369b0e5766b36e", + "path": [ + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ZWFC4W1UWAOIW5SQ7YL1T9REGQFRK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.41159, + 3.4973, + 5.87753 + ], + "start_rotation": [ + 0, + 0.96792, + 0, + 0.25126 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.59634, + "euclidean_distance": 2.95938, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.24868, + 3.48441, + 4.40273 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:324G5B4FB5BN396NEBHUT5VN722704", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.86664, + 0.08441, + 13.10767 + ], + "start_rotation": [ + 0, + 0.46715, + 0, + -0.88418 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.63664, + "euclidean_distance": 8.5305, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.10478, + 0.08441, + 10.08122 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "3ffabcbad5894c6e8f03f54453a1e2e9", + "path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3L4D84MIL1VRY4DLDSDC2NZDKEWHJF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.50361, + 0.08441, + 8.9336 + ], + "start_rotation": [ + 0, + 0.82298, + 0, + 0.56808 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.24823, + "euclidean_distance": 5.86943, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.34389, + 0.08441, + 8.45851 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WMINLGALD6PG3Z1XUMYYXZEHZCCA0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.19089, + -2.57665, + 3.32984 + ], + "start_rotation": [ + 0, + 0.80579, + 0, + 0.59221 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.6804, + "euclidean_distance": 3.05196, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71901, + -2.31559, + 0.34527 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3PZDLQMM0VO0B04XKFTJSFGG5BLC2U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.2531, + -2.91559, + 9.73329 + ], + "start_rotation": [ + 0, + 0.99818, + 0, + -0.06025 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 10.85329, + "euclidean_distance": 9.74843, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67734, + -2.31559, + 0.32426 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "9a10d725e7334967a8ca89b2a61c446e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3LKC68YZ3C6NW5Z7O4RHBMQMYWXOWJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.86151, + -2.51559, + 13.99155 + ], + "start_rotation": [ + 0, + 0.91483, + 0, + -0.40385 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 14.93646, + "euclidean_distance": 14.01475, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.68578, + -2.31559, + 0.29383 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:3F1567XTNY8F5LZFA69TM7DBFWW9QO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.934, + -2.86445, + 4.32469 + ], + "start_rotation": [ + 0, + 0.83411, + 0, + 0.5516 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 4.35094, + "euclidean_distance": 4.05236, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.74156, + -2.31559, + 0.34104 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3GU1KF0O4K4DT2DX8D80D8IRYYGBP8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.58622, + 0.08441, + 14.21127 + ], + "start_rotation": [ + 0, + 0.13704, + 0, + 0.99057 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 27.66039, + "euclidean_distance": 9.49658, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.48249, + 3.48773, + 5.75361 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "03a8325e3b054e3fad7e1e7091f9d283", + "path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3PWWM24LHU1YZXEK33DEQTKXEG0285", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.49157, + 3.56262, + 13.80576 + ], + "start_rotation": [ + 0, + 0.57145, + 0, + 0.82064 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 9.5928, + "euclidean_distance": 8.94754, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.53832, + 3.48576, + 5.77751 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "8e1fa462cea64696aa723bbfbdb1b21e", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3Y54SXRO1NOQHTFAPLYFN8BCCMRUTW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.51451, + 0.68441, + 0.45576 + ], + "start_rotation": [ + 0, + 0.74798, + 0, + 0.66372 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 10.4172, + "euclidean_distance": 5.64705, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.57629, + 3.48441, + 5.516 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z3ZLGNNSKXTQJAZTX8JVUAPE143QC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.85524, + 0.08441, + 7.35432 + ], + "start_rotation": [ + 0, + 0.8538, + 0, + 0.5206 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 22.38456, + "euclidean_distance": 3.97824, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.32338, + 3.48441, + 5.83852 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3V0Z7YWSI03WA9AXBWOOI745PF02VB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.42205, + 0.08441, + 2.76407 + ], + "start_rotation": [ + 0, + 0.35924, + 0, + 0.93325 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 16.52457, + "euclidean_distance": 5.91944, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76083, + 3.48441, + 5.34607 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_190_newN_0", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:33FBRBDW6Q2BXF6M0W2K26TJQ8DC8Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.63304, + 0.08441, + 8.16498 + ], + "start_rotation": [ + 0, + 0.51838, + 0, + 0.85515 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.01468, + "euclidean_distance": 4.40552, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.53131, + 3.48441, + 5.66133 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3TE3O85732B4H2TG2CJEHAF249T2RO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.22544, + 0.14057, + 5.01657 + ], + "start_rotation": [ + 0, + 0.05292, + 0, + -0.9986 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.13541, + "euclidean_distance": 2.74484, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.18135, + 0.68441, + 2.52145 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3UWN2HHPU08C73IM3KH3Z8NW16JNS4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.42611, + -2.91559, + 15.39524 + ], + "start_rotation": [ + 0, + 0.63632, + 0, + -0.77142 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 4.7326, + "euclidean_distance": 2.98367, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32712, + -2.91559, + 15.46264 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e345211511824219a62f1b8d639c477e", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b" + ], + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3QY7M81QH9PPGZDRI4RCCPAWKX3K7B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.73223, + -2.91559, + 14.00172 + ], + "start_rotation": [ + 0, + 0.95132, + 0, + 0.30822 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 7.77063, + "euclidean_distance": 6.15827, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.33792, + -2.91559, + 14.72553 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CFJTT4SXVTYA4N3I160Z9VJSTH7IQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.98578, + 3.48441, + 8.2735 + ], + "start_rotation": [ + 0, + 0.24495, + 0, + -0.96954 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.27457, + "euclidean_distance": 7.27986, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.64509, + 3.48441, + 15.12779 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3ITXP059PYMGODR1OMPB616FSLUSJJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.20793, + 0.08441, + 8.13329 + ], + "start_rotation": [ + 0, + 0.46921, + 0, + -0.88308 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.65091, + "euclidean_distance": 6.91122, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.45572, + 3.50498, + 6.18135 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3A4TN5196ML4QQ7F30WQFJMITRFHCM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.65707, + -2.91559, + 16.34517 + ], + "start_rotation": [ + 0, + 0.87296, + 0, + -0.48779 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.54933, + "euclidean_distance": 3.30077, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32896, + -2.91559, + 15.56001 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b" + ], + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3CFJTT4SXVTYA4N3I160Z9VJSSR7IY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.21537, + 0.08441, + 7.27225 + ], + "start_rotation": [ + 0, + 0.24746, + 0, + -0.9689 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.48386, + "euclidean_distance": 7.00624, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.31316, + 0.08441, + 13.56204 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37Q970SNZGB9TWBXYXJ521ATY5HS14", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.53108, + 0.08441, + 13.48209 + ], + "start_rotation": [ + 0, + 0.82872, + 0, + -0.55966 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.82298, + "euclidean_distance": 1.64708, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.14067, + 0.08441, + 14.41364 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:37U1UTWH9XPF3HV5ITSFR1S5Q90R8V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.93124, + 0.68441, + 1.47204 + ], + "start_rotation": [ + 0, + 0.99685, + 0, + 0.07925 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.34122, + "euclidean_distance": 12.89804, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.44941, + 3.48441, + 14.0033 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:34QN5IT0T1UR3NB6OG9075RIHJI08N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.86646, + 0.08441, + 7.97311 + ], + "start_rotation": [ + 0, + 0.54268, + 0, + 0.83994 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 24.68139, + "euclidean_distance": 5.94791, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.40759, + 3.48441, + 5.85941 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0927e4d3dc3e4c8590fd3f7dc512a130", + "path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "0_edge_128_newN_1", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "refined_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3D4CH1LGECWOSW517A4HST9997T9GV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.85716, + -2.31559, + -2.85089 + ], + "start_rotation": [ + 0, + 0.59364, + 0, + 0.80473 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.70082, + "euclidean_distance": 8.95961, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.40048, + -2.91559, + 5.2453 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36V4Q8R5ZM3UC5I9ZFDYRTJVESSQMM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.41614, + 0.08441, + 6.34066 + ], + "start_rotation": [ + 0, + 0.82544, + 0, + -0.56449 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.87628, + "euclidean_distance": 9.36812, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.21462, + 0.68441, + -2.88879 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3N2BF7Y2VSXHZCJ6GPQ4IFRUN55MHV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.81815, + -2.91559, + 12.91134 + ], + "start_rotation": [ + 0, + 0.89894, + 0, + 0.43806 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.82402, + "euclidean_distance": 6.85742, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.05701, + -2.91559, + 6.23608 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33CUSNVVNPF9LCG9JKMF0KX00HQ88E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.31576, + -2.91559, + 13.55943 + ], + "start_rotation": [ + 0, + 0.72257, + 0, + 0.6913 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.84441, + "euclidean_distance": 9.19652, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.02681, + -2.91559, + 6.04415 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MHW492WW2GMHDEQLE78XGI3VKMVM0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.17072, + 0.08441, + 6.4878 + ], + "start_rotation": [ + 0, + 0.99027, + 0, + -0.13919 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 16.37353, + "euclidean_distance": 4.38648, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.45902, + 3.50395, + 6.17213 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2A7O6KYJ9GS8A:32RIADZISU7QLV8GLF270ZHWBQD4SI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.34852, + 3.57497, + 13.10929 + ], + "start_rotation": [ + 0, + 0.99436, + 0, + 0.10607 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.17188, + "euclidean_distance": 13.76524, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32485, + 0.68441, + -0.34136 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X65QVEQI2Q6CMQ5ULBO7BFPA8RCLR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.52849, + -2.4911, + 3.11704 + ], + "start_rotation": [ + 0, + 0.80098, + 0, + -0.59869 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.11113, + "euclidean_distance": 3.85124, + "closest_goal_object_id": 383, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.83008, + -2.91559, + 6.1905 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3HRMW88U18T6OCDAIHJJCNSD2PQM0J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.81331, + 0.68441, + -0.51433 + ], + "start_rotation": [ + 0, + 0.66092, + 0, + -0.75045 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 11.54868, + "euclidean_distance": 6.60452, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.74923, + 3.48441, + 5.40604 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3NOKK93PR3B73E0R9QUFK4P8NOAEE9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.94407, + 0.68441, + 0.47367 + ], + "start_rotation": [ + 0, + 0.96228, + 0, + -0.27206 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.62566, + "euclidean_distance": 7.29576, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.46899, + 3.48441, + 5.66167 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3K772S5NPAEJNORTZR2L57MLE2GHE1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.34035, + -2.45906, + -3.51828 + ], + "start_rotation": [ + 0, + 0.88815, + 0, + 0.45956 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 18.00335, + "euclidean_distance": 15.61911, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.34257, + -2.82845, + 9.96066 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "7b99fad7a2b243dea6b50dc65d03fbc7", + "path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3CFJTT4SXVTYA4N3I160Z9VJTUDI70", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.20397, + 0.08441, + 9.4238 + ], + "start_rotation": [ + 0, + 0.72559, + 0, + 0.68813 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.32593, + "euclidean_distance": 2.05997, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.68738, + 0.08441, + 7.88593 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3137ONMDKI85NSWIFLK3K7AKZ24EG0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.03717, + -2.91559, + 6.36642 + ], + "start_rotation": [ + 0, + 0.86204, + 0, + -0.50685 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.41449, + "euclidean_distance": 2.16263, + "closest_goal_object_id": 380, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.18444, + -2.91559, + 6.52547 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_208_newN_0", + "path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:3ZPPDN2SLXZQ8I9A1FETSQOXVQ69E3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.54719, + 0.08441, + 4.77881 + ], + "start_rotation": [ + 0, + 0.56901, + 0, + 0.82233 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 23.85173, + "euclidean_distance": 10.89804, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.03204, + 3.48441, + 14.69987 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3YMU66OBIPBH72NK5MS95A7XRJ6GHU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.92664, + -2.31559, + -2.61142 + ], + "start_rotation": [ + 0, + 0.95462, + 0, + 0.29781 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.78318, + "euclidean_distance": 3.08403, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.12313, + -2.31559, + -2.40293 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "5908a457f37a470aa0e8cd389f31d438", + "path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:34QN5IT0T1UR3NB6OG9075RIHJT08Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.17633, + 0.08441, + 6.88493 + ], + "start_rotation": [ + 0, + 0.2201, + 0, + 0.97548 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 29.25266, + "euclidean_distance": 8.01315, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.34163, + 3.48441, + 14.06142 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_190_newN_0", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:34QN5IT0T1UR3NB6OG9075RIIK280I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.58483, + 0.08441, + 8.39523 + ], + "start_rotation": [ + 0, + 0.86276, + 0, + -0.50562 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.57876, + "euclidean_distance": 7.65754, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05703, + 3.48441, + 14.75435 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "refined_path": [ + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + [ + "0_edge_195_newN_3" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3ITXP059PYMGODR1OMPB616FSMZJSH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.07856, + -2.31559, + 2.39253 + ], + "start_rotation": [ + 0, + 0.12508, + 0, + 0.99215 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.27341, + "euclidean_distance": 4.65387, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.03784, + -2.31559, + -2.35929 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3O6CYIULEF4I9AJ4KQ3QASIBFFFWUR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.91902, + 0.08441, + 12.06738 + ], + "start_rotation": [ + 0, + 0.99224, + 0, + -0.1243 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.0078, + "euclidean_distance": 15.267, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.2507, + 0.68441, + -2.92771 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:32SCWG5HIJ77NQW2CMRS2SWZJV2P6T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.53404, + 0.68441, + 0.93533 + ], + "start_rotation": [ + 0, + 0.37084, + 0, + -0.9287 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.38502, + "euclidean_distance": 5.9686, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.36618, + 3.48441, + 5.92728 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf" + ], + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "8072791758d146aba5ff98920a81fa0c" + ], + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3OHYZ19UGE8QPSW4NZVPTXTV5A5OAC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.6309, + 0.68441, + -1.55618 + ], + "start_rotation": [ + 0, + 0.69871, + 0, + -0.7154 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.77573, + "euclidean_distance": 7.74605, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.56483, + 3.48441, + 5.53875 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3TK8OJTYM3OS2GB3DUZ0EKCY0PXVPW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.12525, + -2.91559, + 5.94457 + ], + "start_rotation": [ + 0, + 0.97299, + 0, + -0.23085 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.09783, + "euclidean_distance": 6.55108, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.78296, + -2.91559, + 11.93286 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "path": [ + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VELCLL3GMM0PR6BSDJ6V2REAG51FF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.72618, + -2.81723, + 9.72259 + ], + "start_rotation": [ + 0, + 0.56835, + 0, + -0.82279 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.95526, + "euclidean_distance": 7.42659, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.07605, + -2.91559, + 6.49618 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37W3JXSD68BZQJ39UR0FDDOOB3RWYQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.70814, + -2.72885, + 3.80097 + ], + "start_rotation": [ + 0, + 0.48263, + 0, + -0.87582 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.34116, + "euclidean_distance": 4.98302, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.75283, + -2.91559, + 8.74607 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:37UEWGM5HVBXSHBKJ8J0CR5XC351RW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.69228, + 3.48441, + 9.04546 + ], + "start_rotation": [ + 0, + 0.94519, + 0, + -0.32653 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.46059, + "euclidean_distance": 6.59359, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.71459, + 3.54822, + 13.93974 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3RANCT1ZVHKQL7LTPZ7UNE5Q5EFUBR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.12632, + 0.08441, + 8.15561 + ], + "start_rotation": [ + 0, + 0.19752, + 0, + 0.9803 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.45492, + "euclidean_distance": 7.22595, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25322, + 0.08441, + 15.06785 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FUI0JHJPZ11JI4XVMWNIMHE49O337", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.12686, + -2.31559, + -3.09685 + ], + "start_rotation": [ + 0, + 0.4864, + 0, + 0.87374 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.4054, + "euclidean_distance": 11.79461, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.61635, + -2.91559, + 8.6652 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:31JLPPHS2WXQ57XJEKGF6PFP01R3OC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.68356, + 0.08441, + 13.07872 + ], + "start_rotation": [ + 0, + 0.01252, + 0, + 0.99992 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.75677, + "euclidean_distance": 8.67355, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.65554, + 3.48441, + 5.42915 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ZGVPD4G6VK73S9KV8XN40QRD3OZT5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.19278, + 0.08441, + 6.55987 + ], + "start_rotation": [ + 0, + 0.90305, + 0, + -0.42953 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.29028, + "euclidean_distance": 3.81308, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.39987, + 3.50921, + 6.20275 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:36ZN444YTT15VAF2ZNN2AVHEJJNOIW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.8533, + 0.08441, + 9.00007 + ], + "start_rotation": [ + 0, + 0.06655, + 0, + 0.99778 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 21.60431, + "euclidean_distance": 4.98632, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64536, + 3.48441, + 5.46856 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "0_edge_245_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A18JNQE5GZQIX5:3EJJQNKU9T88WSWYLXML4EL4TSUHR4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.15316, + 0.08441, + 4.31024 + ], + "start_rotation": [ + 0, + 0.87068, + 0, + 0.49185 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.42596, + "euclidean_distance": 7.2824, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.28074, + 0.68441, + -2.89225 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3RXPCZQMQRE63R263XPODNRQAUP1GV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.15888, + 3.77419, + 7.85775 + ], + "start_rotation": [ + 0, + 0.99462, + 0, + -0.10359 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.33559, + "euclidean_distance": 8.03956, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.02324, + 3.48441, + 14.75328 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3WRFBPLXRCR8NMX7D5G2R0FK9QWN3O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.06767, + 0.08441, + 16.3026 + ], + "start_rotation": [ + 0, + 0.96104, + 0, + -0.2764 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 29.58639, + "euclidean_distance": 11.95392, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.6195, + 3.48441, + 5.45873 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3ATPCQ38JAD2J606TM4NVORXJKXAY2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.33293, + 0.68441, + -0.54796 + ], + "start_rotation": [ + 0, + 0.99435, + 0, + -0.10615 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 13.00479, + "euclidean_distance": 8.64393, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.44633, + 3.50693, + 6.19749 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A221PNPQRV4FC4:3OCHAWUVGQNJVEJI0HVA6ONKMQ6KXU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.87709, + 3.68392, + 11.42458 + ], + "start_rotation": [ + 0, + 0.74874, + 0, + 0.66286 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 2.27791, + "euclidean_distance": 2.14472, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74872, + 3.48441, + 9.34225 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:36TFCYNS46DSTOIAUWSDTW7SU8SXHR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.35264, + 0.08441, + 16.34227 + ], + "start_rotation": [ + 0, + 0.67778, + 0, + -0.73526 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 26.46024, + "euclidean_distance": 10.84744, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.60805, + 3.48693, + 6.05692 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:320DUZ38G9PDY8IATMVUHNNC5C3JGY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.37377, + 0.08441, + 13.22082 + ], + "start_rotation": [ + 0, + 0.04623, + 0, + -0.99893 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.85256, + "euclidean_distance": 2.58639, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.93532, + 0.08441, + 15.88875 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:34PGFRQONQE9VU8A8RZC3Q90YZ8WJM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.04069, + 0.68441, + -0.30613 + ], + "start_rotation": [ + 0, + 0.09518, + 0, + 0.99546 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.40827, + "euclidean_distance": 2.11481, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.12409, + 0.68441, + -2.10197 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_131_newN_1", + "path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3EF8EXOTT3YGUTS7B3ARA0J62MM1JF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.08479, + 0.08441, + 5.54655 + ], + "start_rotation": [ + 0, + 0.52516, + 0, + -0.851 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.66333, + "euclidean_distance": 2.80762, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43792, + 0.08441, + 6.56729 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2ZZW6KME1FUDU:33ISQZVXPRPD9IWZH8IP4SP2GZOCCM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.23662, + 0.68441, + 2.28395 + ], + "start_rotation": [ + 0, + 0.9988, + 0, + -0.04903 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 22.94367, + "euclidean_distance": 13.80756, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.96437, + 3.48441, + 14.7307 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "ACI0C2WU1NABK:34T446B1C2HTFQ1J5SP59RN17A7C09", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.72081, + 0.08441, + 16.34851 + ], + "start_rotation": [ + 0, + 0.82077, + 0, + -0.57127 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.28665, + "euclidean_distance": 4.51735, + "closest_goal_object_id": 230, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.67323, + 0.08441, + 11.93536 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "ADQHGQF65JJ08:3PB5A5BD0X9KEDH8SD6XEXI3DG6G7O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.10877, + 0.08441, + 15.85986 + ], + "start_rotation": [ + 0, + 0.29082, + 0, + 0.95678 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.54126, + "euclidean_distance": 3.89589, + "closest_goal_object_id": 230, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.66843, + 0.08441, + 11.967 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:39K0FND3AJI2PPBSAJGC1T4QAA1MA6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.81592, + -2.91559, + 15.59449 + ], + "start_rotation": [ + 0, + 0.61628, + 0, + 0.78752 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.99474, + "euclidean_distance": 4.61892, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.78873, + -2.91559, + 15.99801 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A18JNQE5GZQIX5:3HOSI13XH1RXJ28RH08B84P2MZ0DDB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.40008, + 0.08441, + 7.58668 + ], + "start_rotation": [ + 0, + 0.96942, + 0, + 0.2454 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 10.55258, + "euclidean_distance": 10.00445, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.12055, + 0.68441, + -2.08417 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LBXNTKX0TYZEI0RWK4LGF94BW6X9P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07584, + 0.08441, + 7.74351 + ], + "start_rotation": [ + 0, + 0.97057, + 0, + 0.24081 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.63274, + "euclidean_distance": 6.63274, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.13958, + 0.08441, + 14.30832 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3XCC1ODXDNEL9LV14N9FDSD5LGORQB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.53488, + 0.08441, + 13.17283 + ], + "start_rotation": [ + 0, + 0.83159, + 0, + -0.55539 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 26.20619, + "euclidean_distance": 9.22337, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.58143, + 3.48441, + 5.64652 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "80f652ffcdfa47ada388a00233624799", + "path": [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A18JNQE5GZQIX5:3T111IHZ5GTFHMEFNLYTRXNGAF99RT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.43733, + -2.91559, + 13.81812 + ], + "start_rotation": [ + 0, + 0.2275, + 0, + 0.97378 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.47763, + "euclidean_distance": 3.47725, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.75923, + -2.91559, + 15.27816 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3F0BG9B9MRQK0428MJS3LXP7ICA7YR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.92048, + 0.08441, + 7.41597 + ], + "start_rotation": [ + 0, + 0.63728, + 0, + -0.77063 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.80635, + "euclidean_distance": 7.18244, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.11584, + 0.08441, + 14.30146 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33CKWXB73LN9ZCC3LE4L60NK96M11E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07468, + -2.91559, + 15.88902 + ], + "start_rotation": [ + 0, + 0.42947, + 0, + 0.90308 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.21309, + "euclidean_distance": 3.40906, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.00607, + -2.91559, + 14.79269 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3ON104KXQMZJSCPP5KC8XOKHG2K4W5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.34908, + -2.31559, + 1.41975 + ], + "start_rotation": [ + 0, + 0.24659, + 0, + 0.96912 + ], + "object_category": "table", + "info": { + "geodesic_distance": 11.57039, + "euclidean_distance": 10.77141, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.83126, + -2.91559, + 11.90053 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:31UV0MXWNSFJN09KU8R31PHN2OI5I8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.03759, + 0.68441, + 0.07488 + ], + "start_rotation": [ + 0, + 0.08877, + 0, + -0.99605 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.71007, + "euclidean_distance": 6.00073, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64985, + 3.48441, + 5.31346 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:337RC3OW0752BVW5L26TX33EVFWVLY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.46264, + -2.91559, + 8.55187 + ], + "start_rotation": [ + 0, + 0.23926, + 0, + -0.97095 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.52257, + "euclidean_distance": 4.13539, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.79701, + -2.91559, + 11.87189 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_181_newN_0", + "path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3JRJSWSMQJO4TGKUK6DJ1DLBVYME3H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.06113, + -2.91559, + 12.78766 + ], + "start_rotation": [ + 0, + 0.7556, + 0, + 0.65504 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.27851, + "euclidean_distance": 1.91604, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.38296, + -2.91559, + 14.76922 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "3107120d425e424dacedb73bf44e9094", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3AQF3RZ55ALVWD78YJVNQYIVHQO6FI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.11439, + 3.48441, + 15.06853 + ], + "start_rotation": [ + 0, + 0.08654, + 0, + -0.99625 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.78199, + "euclidean_distance": 6.4139, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.62003, + 3.55681, + 9.38943 + ] + }, + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e611700e04a24c3dabb73b0b000e5589", + "path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:3OWEPKL08BFQO5YUFHJS4HR059CN7C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.63035, + 0.08441, + 12.34586 + ], + "start_rotation": [ + 0, + 0.94458, + 0, + -0.32829 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.43728, + "euclidean_distance": 7.7719, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.60961, + 3.48441, + 5.49876 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + [ + "649a58719cd7455ebe18675c9719dfa7" + ], + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c" + ], + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3KIBXJ1WD7XW155QZQ8ENBWROPUKO2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.17011, + 3.53087, + 14.26907 + ], + "start_rotation": [ + 0, + 0.79569, + 0, + 0.60571 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.22719, + "euclidean_distance": 10.37824, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.27662, + 0.08441, + 5.96689 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:392CY0QWG3U1RH5KG38TWXB9S7P4IO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.08901, + 0.46768, + 3.28045 + ], + "start_rotation": [ + 0, + 0.91895, + 0, + -0.39439 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 23.92396, + "euclidean_distance": 12.90282, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.03405, + 3.48441, + 14.76087 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "64565f72062245da87430cc31dd383d9", + "path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:39KFRKBFIPYRLAU73595WJB1J70OYZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.70942, + 0.68441, + -0.51739 + ], + "start_rotation": [ + 0, + 0.70307, + 0, + 0.71112 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 11.26422, + "euclidean_distance": 8.87304, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.58479, + 0.08441, + 7.32647 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3STRJBFXOYUCEXAYV7UDHL2DKAFKTD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.05893, + -2.29733, + 1.78154 + ], + "start_rotation": [ + 0, + 0.81566, + 0, + 0.57854 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.9286, + "euclidean_distance": 4.80136, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.98359, + -2.91559, + 5.47582 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "A272X64FOZFYLB:336KAV9KYSVDE352G7B8P68YI112Y2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.74111, + -2.31559, + -3.46765 + ], + "start_rotation": [ + 0, + 0.34597, + 0, + -0.93825 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.54881, + "euclidean_distance": 15.77256, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.92467, + -2.91559, + 11.97471 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "7b99fad7a2b243dea6b50dc65d03fbc7", + "path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z9WI9EOZ1RM9OJ3VDDO32ZQSA0HKP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.11808, + 0.08441, + 6.01423 + ], + "start_rotation": [ + 0, + 0.9633, + 0, + -0.26842 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.3085, + "euclidean_distance": 2.72783, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.39519, + 0.08441, + 6.50152 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "0_edge_190_newN_0", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3RU7GD8VPQWCAOUZJZUV3XSRFMHSPI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.21988, + 3.51736, + 6.21646 + ], + "start_rotation": [ + 0, + 0.25892, + 0, + -0.9659 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.57386, + "euclidean_distance": 5.61894, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25607, + 0.08441, + 6.00072 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33PPUNGG3A8UNDWSRJSS4LP80TVRZJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.36962, + 0.08441, + 4.39657 + ], + "start_rotation": [ + 0, + 0.56934, + 0, + 0.8221 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.63502, + "euclidean_distance": 7.40035, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.33201, + 0.68441, + -2.86861 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3QUO65DNQWRA41A2T4CGTY5ONJJOUV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.4044, + -2.31559, + -0.30114 + ], + "start_rotation": [ + 0, + 0.9403, + 0, + 0.34035 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.71491, + "euclidean_distance": 9.00769, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.7474, + -2.91559, + 8.72335 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "e345211511824219a62f1b8d639c477e", + "d962509cdba64e6ca76a6228582eb901", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_233_newN_0", + "a991b11e3a524fab95a7a98c3ac18ee4", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "a991b11e3a524fab95a7a98c3ac18ee4", + [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3YDGXNSEO1X82BT77HW2J8HVSAR48O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.15368, + 0.08441, + 13.15152 + ], + "start_rotation": [ + 0, + 0.09724, + 0, + -0.99526 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.3236, + "euclidean_distance": 13.33325, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13914, + 0.68441, + -0.03547 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:36ZN444YTT15VAF2ZNN2AVHECX0OIU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.57009, + 3.48441, + 14.64603 + ], + "start_rotation": [ + 0, + 0.66686, + 0, + -0.74519 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.56052, + "euclidean_distance": 10.89032, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.28164, + 3.48441, + 4.37956 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "ADKF5SLASD5PJ:34S6N1K2ZXMXTU1LGDPPI2C5HEJLHI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.53578, + 3.48441, + 14.68824 + ], + "start_rotation": [ + 0, + 0.9173, + 0, + -0.39821 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.95346, + "euclidean_distance": 3.44039, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01686, + 3.48441, + 14.8083 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "45af9f44b1d041159dd1ded3c28e8457" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Z7VU45IP0K6U8XBTPDDYU7VWUQZ1I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.01046, + 3.66519, + 11.19108 + ], + "start_rotation": [ + 0, + 0.9035, + 0, + 0.4286 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.43418, + "euclidean_distance": 4.18518, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.92849, + 3.48441, + 14.24724 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3LQ8PUHQFNVV3TTFVASCQMKD0B8HIL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.99944, + 3.64146, + 12.28943 + ], + "start_rotation": [ + 0, + 0.7502, + 0, + 0.66122 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.08618, + "euclidean_distance": 13.29834, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.88276, + 0.68441, + -0.57613 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3B3WTRP3DD5YD2XU8VJSQPF8PBQ297", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.00004, + -2.91559, + 15.32889 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + -0.0086 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 16.02494, + "euclidean_distance": 15.18627, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.7672, + -2.31559, + 0.29069 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:32SVAV9L3HC1333I41BX5UVKOKFA3P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.92051, + -2.31559, + -0.28221 + ], + "start_rotation": [ + 0, + 0.62304, + 0, + -0.78219 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.62744, + "euclidean_distance": 5.80286, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.88754, + -2.91559, + 5.37773 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PPTZCWALSNUBCHSE43SZVF4NA4QZJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.9191, + 0.08441, + 15.98431 + ], + "start_rotation": [ + 0, + 0.53943, + 0, + 0.84203 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 26.93416, + "euclidean_distance": 11.04302, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61763, + 3.48441, + 5.63195 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:39ZSFO5CAAZW3QJ5DRKBL2O2O6OJUK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.2569, + 3.48441, + 14.05586 + ], + "start_rotation": [ + 0, + 0.75393, + 0, + -0.65696 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.65915, + "euclidean_distance": 14.74972, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.40283, + 0.77956, + -0.35975 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3K3R2QNK8D67XE6WRFTYW8A0BTFU98", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.4054, + 0.08441, + 15.31423 + ], + "start_rotation": [ + 0, + 0.06902, + 0, + 0.99762 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 16.10534, + "euclidean_distance": 15.76312, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.72265, + 0.68441, + -0.46962 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad" + ], + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3PIWWX1FJL9NPA8B1SGXE0FSA6LJJK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.8182, + 0.08441, + 8.93829 + ], + "start_rotation": [ + 0, + 0.94757, + 0, + 0.31954 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.57053, + "euclidean_distance": 3.81889, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 2.99209, + 0.08441, + 8.8958 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35GMH2SV3GKTF5DG34XBPGJMH0OOE5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.65963, + 0.08441, + 5.72132 + ], + "start_rotation": [ + 0, + 0.99998, + 0, + 0.00601 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.54168, + "euclidean_distance": 8.63565, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.0649, + 0.68441, + -2.21651 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3KAKFY4PGW5G9LMGGP3AMSJ3H5H3IP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.43806, + 0.08441, + 9.52162 + ], + "start_rotation": [ + 0, + 0.89899, + 0, + -0.43796 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.44604, + "euclidean_distance": 6.76672, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.77133, + 3.48441, + 5.35058 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3VFJCI1K412UWW1N1R43JE9354MGRO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.01288, + -2.51559, + 13.99895 + ], + "start_rotation": [ + 0, + 0.55379, + 0, + 0.83265 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.33385, + "euclidean_distance": 3.48934, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.41965, + -2.91559, + 14.64419 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3GDTJDAPVWEO61IDDLWY52YVB9WM8Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.67009, + -2.91559, + 6.84208 + ], + "start_rotation": [ + 0, + 0.93818, + 0, + 0.34616 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.84837, + "euclidean_distance": 11.62464, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71512, + -2.31559, + -3.26244 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EWIJTFFVQA8COLX1JV0ZFN4MWIE0G", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.7712, + 0.08441, + 3.77709 + ], + "start_rotation": [ + 0, + 0.45352, + 0, + 0.89124 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 10.57058, + "euclidean_distance": 9.93548, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.32473, + 0.08441, + 13.5339 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3GDTJDAPVWEO61IDDLWY52YVB9ZM81", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.48927, + 0.1922, + 3.4043 + ], + "start_rotation": [ + 0, + 0.99681, + 0, + -0.07985 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.27986, + "euclidean_distance": 6.72271, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99844, + 0.08441, + 10.12268 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3MMN5BL1W17254C71412ELQKVGI3MN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.46299, + 0.08441, + 10.48348 + ], + "start_rotation": [ + 0, + 0.95727, + 0, + -0.2892 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 21.41601, + "euclidean_distance": 6.90376, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69844, + 3.48441, + 5.33259 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3JRJSWSMQJO4TGKUK6DJ1DLB91C3EG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.48988, + 3.48441, + 3.99222 + ], + "start_rotation": [ + 0, + 0.94942, + 0, + 0.31401 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 15.78653, + "euclidean_distance": 6.97803, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.30668, + 0.08441, + 6.08983 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3SBEHTYCWP6HPOJ45AW0CMFGQ7VYIB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.09844, + 3.56553, + 6.65736 + ], + "start_rotation": [ + 0, + 0.29602, + 0, + -0.95518 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 20.87127, + "euclidean_distance": 4.99823, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.06489, + 0.08441, + 10.1495 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3KJYX6QCMBEWG585IHUGHOQM5S9JVK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.91269, + 3.55991, + 6.16917 + ], + "start_rotation": [ + 0, + 0.93656, + 0, + 0.35051 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.32798, + "euclidean_distance": 8.27362, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74956, + 0.68441, + -0.69685 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3Q8GYXHFER5SAXNK2YVHQMJSF6TC58", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.40973, + -2.91559, + 16.60672 + ], + "start_rotation": [ + 0, + 0.96452, + 0, + 0.26402 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.64453, + "euclidean_distance": 6.19012, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.08235, + -2.91559, + 12.10547 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PJUZCGDJ8J9ZHZJOCST0GSBBAR98O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.46234, + -2.91559, + 15.62932 + ], + "start_rotation": [ + 0, + 0.94798, + 0, + -0.31832 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 18.44618, + "euclidean_distance": 15.97206, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.7386, + -2.31559, + -0.11898 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3UN61F00HYSWGZC3KVLCFHIDZ525RR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.18171, + 0.08441, + 12.01889 + ], + "start_rotation": [ + 0, + 0.43228, + 0, + 0.90174 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.72766, + "euclidean_distance": 5.63454, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.13522, + 0.08441, + 10.11483 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3S3AMIZX3W8NEA2DH4D0OY7JC99CDO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.74966, + 0.08441, + 11.80179 + ], + "start_rotation": [ + 0, + 1, + 0, + 0.00146 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.71334, + "euclidean_distance": 15.49812, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.41606, + 0.68441, + -3.04307 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3UJ1CZ6IZJS8HECGZKLH5RNA0LE5SH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.14379, + -2.31559, + -0.20749 + ], + "start_rotation": [ + 0, + 0.73214, + 0, + -0.68116 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.18921, + "euclidean_distance": 11.12309, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.34876, + -2.85, + 10.0224 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:308Q0PEVBAG2ONBWXY4KD5MPE6DI9M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.60263, + -2.91559, + 9.98806 + ], + "start_rotation": [ + 0, + 0.97564, + 0, + 0.21939 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.28432, + "euclidean_distance": 10.08549, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.65, + -2.31559, + 0.32049 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "3107120d425e424dacedb73bf44e9094", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3G0WWMR1UXN0UN39BGSY488VDW0QN6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.48652, + 0.08441, + 12.5548 + ], + "start_rotation": [ + 0, + 0.13468, + 0, + 0.99089 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 26.32861, + "euclidean_distance": 9.7688, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.50201, + 3.48441, + 5.65641 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3ffabcbad5894c6e8f03f54453a1e2e9", + "path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FTYUGLFSWO2FPTY2UQSAS1A05RD5T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.3028, + 0.08441, + 15.6446 + ], + "start_rotation": [ + 0, + 0.84241, + 0, + -0.53883 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.59209, + "euclidean_distance": 6.88161, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.01692, + 0.08441, + 8.828 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TYCR1GOTEMJKF1FMZVWI9GAA0PZL0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.74449, + 0.08441, + 12.49951 + ], + "start_rotation": [ + 0, + 0.01305, + 0, + 0.99991 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 24.61577, + "euclidean_distance": 8.12005, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.42119, + 0.08441, + 7.2763 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "80f652ffcdfa47ada388a00233624799", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:33IZTU6J834HJXWQ5Q4CXAEUUWRSX6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.42333, + 3.58507, + 6.83884 + ], + "start_rotation": [ + 0, + 0.99927, + 0, + -0.03825 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.08126, + "euclidean_distance": 8.35157, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.58725, + 3.48441, + 15.07301 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39OWYR0EPMUXFXHE42QF9P2O7OAYF6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.22647, + -2.27952, + 1.99644 + ], + "start_rotation": [ + 0, + 0.92844, + 0, + 0.37148 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.31529, + "euclidean_distance": 5.00215, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.65279, + -2.31559, + -3.01777 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:38BQUHLA9Y3RRT5TK2LU2OOVQ8ZOMQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.45401, + 0.08441, + 11.0919 + ], + "start_rotation": [ + 0, + 0.73798, + 0, + 0.67482 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 22.00176, + "euclidean_distance": 7.36299, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.6665, + 3.48441, + 5.45804 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Z4AIRP3C8GHPDXWS7PS19RL7ZUX1G", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.20177, + -2.91559, + 9.43871 + ], + "start_rotation": [ + 0, + 0.04256, + 0, + -0.99909 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.03745, + "euclidean_distance": 3.98209, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69217, + -2.91559, + 13.26964 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "e345211511824219a62f1b8d639c477e", + "path": [ + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LKR6A5KGNA8WOCNXOVC66FUYBT1O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.97009, + 3.67628, + 8.01289 + ], + "start_rotation": [ + 0, + 0.7158, + 0, + -0.69831 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 2.08781, + "euclidean_distance": 1.95285, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.88736, + 3.55992, + 6.0233 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3KMS4QQVK4T2VSSX0NPO0HNDWQVFK7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.83933, + 3.68441, + 12.39476 + ], + "start_rotation": [ + 0, + 0.57685, + 0, + 0.81685 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.60769, + "euclidean_distance": 5.19301, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.04247, + 0.08441, + 10.14675 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3GNCZX450KQ8AS852Z84IXYL6W2AP5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.8722, + 0.08441, + 16.11282 + ], + "start_rotation": [ + 0, + 0.67352, + 0, + 0.73917 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.51849, + "euclidean_distance": 11.28197, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.70973, + 3.48441, + 5.33107 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3SPJ0334236DKZ3ANSH0ONUFKU9JYS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.30203, + -2.91559, + 14.74297 + ], + "start_rotation": [ + 0, + 0.75573, + 0, + -0.65488 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.10826, + "euclidean_distance": 14.85649, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.64015, + -2.31559, + -0.1716 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VA45EW49PQUV4J4RG2WIW0SVTQO1Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.97654, + 0.08441, + 8.86898 + ], + "start_rotation": [ + 0, + 0.13499, + 0, + 0.99085 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.88301, + "euclidean_distance": 12.16843, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.22215, + 0.68441, + -2.91357 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3R6BYFZZP9F8FSR4Z64DQBVF543XFU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.67726, + -2.31559, + 1.22844 + ], + "start_rotation": [ + 0, + 0.56166, + 0, + -0.82737 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.18344, + "euclidean_distance": 3.53092, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.15102, + -2.31559, + -2.27457 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3AUQQEL7U7WPEZ7JW9KAZJBQ6MZV0R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.97469, + -2.91559, + 6.10447 + ], + "start_rotation": [ + 0, + 0.39153, + 0, + -0.92016 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 6.41637, + "euclidean_distance": 5.93667, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.65571, + -2.31559, + 0.30313 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "99fa48d974fa43988f369b0e5766b36e", + "path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "c6a181682e8f4c55b27287031ed7ddcd", + "3107120d425e424dacedb73bf44e9094", + "d962509cdba64e6ca76a6228582eb901", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:345LHZDEDZVLICHGA6SO5V7E8YZU3C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.06796, + 0.08441, + 12.44004 + ], + "start_rotation": [ + 0, + 0.73585, + 0, + 0.67715 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.18716, + "euclidean_distance": 6.42878, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.79616, + 0.08441, + 15.06846 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3VHHR074H5K005V9343DRPNAMMU7LC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.5724, + -2.91559, + 13.50025 + ], + "start_rotation": [ + 0, + 0.46026, + 0, + -0.88779 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.2656, + "euclidean_distance": 1.9471, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.7974, + -2.91559, + 12.08078 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "8c973e0dd63e490db73c44ff6959854b", + "path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:34Z02EIMIUGA173UREKVY1N48U10TH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.38831, + 0.08441, + 6.64118 + ], + "start_rotation": [ + 0, + 0.32719, + 0, + -0.94496 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 27.93701, + "euclidean_distance": 8.92327, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.03948, + 3.48441, + 14.70528 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:31HQ4X3T3UDMJ3F1R71OMGJ7NYALSS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.91614, + 0.08441, + 11.11553 + ], + "start_rotation": [ + 0, + 0.99992, + 0, + 0.01231 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.4687, + "euclidean_distance": 11.66305, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.03965, + 0.68441, + -0.09371 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ON104KXQMZJSCPP5KC8XOKH7JKW4M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.95364, + -2.91559, + 13.10059 + ], + "start_rotation": [ + 0, + 0.99152, + 0, + 0.12995 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.66808, + "euclidean_distance": 3.47368, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.99182, + -2.91559, + 14.81748 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3B1NLC6UG1Z9KJL8OZ0EEJ9NQWJPGU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.72919, + 0.08441, + 12.65746 + ], + "start_rotation": [ + 0, + 1, + 0, + -0.00313 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 27.83507, + "euclidean_distance": 8.31038, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.52647, + 3.48441, + 5.86075 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7" + ] + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3QAPZX2QN6GGH89H8Z0ZXEEE8EY02T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.59093, + 0.68441, + -0.67862 + ], + "start_rotation": [ + 0, + 0.97849, + 0, + -0.2063 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.25278, + "euclidean_distance": 7.31777, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.54399, + 3.48441, + 5.47617 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3TR2532VIRXB1FT4H9M85WAMNR8J60", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.58981, + -2.59414, + 3.36193 + ], + "start_rotation": [ + 0, + 0.68625, + 0, + 0.72737 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.7907, + "euclidean_distance": 5.44327, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.67322, + -2.91559, + 8.64502 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3VD82FOHKSREI7T27DRGZSJJVDAOCO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.35836, + 0.08441, + 7.37086 + ], + "start_rotation": [ + 0, + 0.12369, + 0, + -0.99232 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.27131, + "euclidean_distance": 4.66801, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.44388, + 3.49906, + 6.11687 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3UJ1CZ6IZJS8HECGZKLH5RN9NA4S5T", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.27581, + -2.19209, + 1.50494 + ], + "start_rotation": [ + 0, + 0.84899, + 0, + 0.52841 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.66848, + "euclidean_distance": 10.45959, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.85797, + -2.91559, + 11.95519 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:358010RM5GWXBPDUZL9H8XY0FCYXV1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.84402, + -2.91559, + 14.50437 + ], + "start_rotation": [ + 0, + 0.87433, + 0, + 0.48532 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.30786, + "euclidean_distance": 2.37983, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.55624, + -2.91559, + 15.05592 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "4b77e304d83943999198c3cd4457512c", + "path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31LM9EDVONVJ80ZWGQ8P77W9Z2ENJK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.61114, + 0.68441, + -2.66088 + ], + "start_rotation": [ + 0, + 0.62112, + 0, + -0.78371 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 12.26901, + "euclidean_distance": 8.70475, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.5012, + 3.48441, + 5.63645 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3TDXMTX3CDXF649YZR18TVVNBKWI6J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.49744, + 3.56, + 10.19536 + ], + "start_rotation": [ + 0, + 0.99913, + 0, + 0.04159 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.07733, + "euclidean_distance": 11.28491, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.46582, + 0.78965, + -0.42711 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2OVOVZBJYUO:3NQL1CS15TBMBU344HVJRB5AV4PYVT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.54706, + -2.91559, + 13.26139 + ], + "start_rotation": [ + 0, + 0.03668, + 0, + 0.99933 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.93534, + "euclidean_distance": 3.38448, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.84774, + -2.91559, + 15.33462 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "d962509cdba64e6ca76a6228582eb901", + "e345211511824219a62f1b8d639c477e", + "3107120d425e424dacedb73bf44e9094", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3Z9WI9EOZ1RM9OJ3VDDO32ZP9A8HKC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.14558, + 0.17605, + 5.7842 + ], + "start_rotation": [ + 0, + 0.96137, + 0, + 0.27525 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.73925, + "euclidean_distance": 8.97332, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.15174, + 0.68441, + -2.96312 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3A4NIXBJ782JL82W7A52A7K1Y1WLM7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.66981, + 3.5532, + 8.10643 + ], + "start_rotation": [ + 0, + 0.03458, + 0, + -0.9994 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.25846, + "euclidean_distance": 9.41604, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.50949, + 0.79455, + -0.41728 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3C6FJU71TSWMYFE4ZRLEVP3RH4IYUK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.37786, + 0.08441, + 10.99843 + ], + "start_rotation": [ + 0, + 0.54142, + 0, + -0.84075 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.11428, + "euclidean_distance": 8.71483, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.6687, + 3.48441, + 5.40509 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "c1b7a383f8474e7d951ebea82bb82818", + "path": [ + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3IOEN3P9S9M46YD0RKG21WE173E61R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.68613, + -2.91559, + 12.88029 + ], + "start_rotation": [ + 0, + 0.99957, + 0, + -0.02941 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.89346, + "euclidean_distance": 4.39379, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69843, + -2.91559, + 13.40075 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438" + ], + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3RKNTXVS3O1MLZMM4FGGFZNQF6J4AX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.70554, + -2.91559, + 6.97588 + ], + "start_rotation": [ + 0, + 0.67611, + 0, + -0.7368 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.51416, + "euclidean_distance": 6.49551, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.81971, + -2.91559, + 13.42687 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_208_newN_0", + "path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L2IS5HSFCLSMGAQSPC3E95KDEANU3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.39221, + -2.31559, + -0.42289 + ], + "start_rotation": [ + 0, + 0.58932, + 0, + -0.8079 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.32833, + "euclidean_distance": 4.03808, + "closest_goal_object_id": 486, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.62557, + -2.31559, + -1.01437 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ] + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:3DL65MZB8FIS6GGDDZOKUGP5FGWEC0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.77257, + -2.31559, + 0.09826 + ], + "start_rotation": [ + 0, + 0.49379, + 0, + 0.86958 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.18391, + "euclidean_distance": 3.83234, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75561, + -2.31559, + -3.46523 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:35L9RVQFCQL0CKOFPRHQ9P8OR3SHUH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.19992, + 3.48441, + 4.15412 + ], + "start_rotation": [ + 0, + 0.02695, + 0, + 0.99964 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.55183, + "euclidean_distance": 7.64135, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.23705, + 0.68441, + -2.87748 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33PPO7FECXIERDOD9E9MZ15F5MNDIJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.20839, + -2.51559, + 13.48439 + ], + "start_rotation": [ + 0, + 0.43057, + 0, + 0.90256 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.55669, + "euclidean_distance": 16.87494, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.17406, + -2.31559, + -3.39148 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3ERET4BTVOCTUI1KX1PWQL1292V9K4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.91985, + 0.08441, + 3.99536 + ], + "start_rotation": [ + 0, + 0.32798, + 0, + -0.94468 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.74133, + "euclidean_distance": 4.31234, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35068, + 0.08441, + 6.79383 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_186_newN_0", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3AQF3RZ55ALVWD78YJVNQYIUUOTF63", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.59504, + -2.91559, + 14.48664 + ], + "start_rotation": [ + 0, + 0.02209, + 0, + 0.99976 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.36552, + "euclidean_distance": 1.99359, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.45595, + -2.91559, + 14.64221 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3WI0P0II63VRKCRWZ13VDT66VBBDRH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.20629, + -2.41186, + -3.42482 + ], + "start_rotation": [ + 0, + 0.95704, + 0, + -0.28996 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.09891, + "euclidean_distance": 12.46206, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.78897, + -2.91559, + 8.71132 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "7b99fad7a2b243dea6b50dc65d03fbc7", + "path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3FTOP5WARHRGN47PFK6RWV0WBW10JE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.14575, + 0.08441, + 9.02743 + ], + "start_rotation": [ + 0, + 0.26936, + 0, + -0.96304 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.45963, + "euclidean_distance": 9.21616, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.09212, + 0.68441, + -0.22891 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_190_newN_0", + "path": [ + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3VHP9MDGRPNKCUG98A8QCYA5RH8CFD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.80159, + -2.31559, + 1.29879 + ], + "start_rotation": [ + 0, + 0.95249, + 0, + 0.30458 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 9.77518, + "euclidean_distance": 7.31485, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7298, + -2.31559, + -3.45374 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3EFVCAY5L5CY5TCSAOJ6PA6E6S7J8M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.31014, + -2.51559, + 13.77277 + ], + "start_rotation": [ + 0, + 0.98041, + 0, + 0.19696 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.38729, + "euclidean_distance": 2.40716, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.51508, + -2.91559, + 16.07652 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "e345211511824219a62f1b8d639c477e", + "8c973e0dd63e490db73c44ff6959854b", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + [ + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JAOYWH7VK74EOJ2I11X5LEGHMRL9V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.38368, + 0.08441, + 10.00372 + ], + "start_rotation": [ + 0, + 0.57857, + 0, + -0.81563 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.67898, + "euclidean_distance": 6.8263, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.60451, + 3.48441, + 5.67883 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:33C7UALJVN1RACWOKZD0LAASDLC81X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.36735, + 0.08441, + 11.25133 + ], + "start_rotation": [ + 0, + 0.8555, + 0, + -0.5178 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 23.33484, + "euclidean_distance": 7.06529, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.50379, + 0.08441, + 7.31311 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_223_newN_0", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799" + ], + "0_edge_223_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3OWEPKL08BFQO5YUFHJS4HR082NN7C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.2489, + -2.31559, + 1.44642 + ], + "start_rotation": [ + 0, + 0.7978, + 0, + -0.60292 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 12.49161, + "euclidean_distance": 10.57512, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.25691, + -2.84919, + 10.00989 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3A4TN5196ML4QQ7F30WQFJMIN13HCO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.31632, + -0.88479, + 2.01067 + ], + "start_rotation": [ + 0, + 0.3007, + 0, + 0.95372 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.63979, + "euclidean_distance": 5.67647, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.13851, + -2.31559, + -2.35503 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "04e0d7506a0849009fabf4c10fa74a40", + "path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40" + ], + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:39L1G8WVWSU59FQI8II4UT2H03W13L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.90859, + 0.08441, + 15.29628 + ], + "start_rotation": [ + 0, + 0.20364, + 0, + 0.97905 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.74289, + "euclidean_distance": 18.19922, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.30157, + 0.68441, + -2.92296 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "ef277969af8e477495075389c3e06da6" + ], + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3A4TN5196ML4QQ7F30WQFJMH6L8CH9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.36334, + 3.58677, + 12.28356 + ], + "start_rotation": [ + 0, + 0.99984, + 0, + -0.01794 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.40396, + "euclidean_distance": 3.77212, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.80747, + 3.48441, + 14.29809 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3KAKFY4PGW5G9LMGGP3AMSJ20P43IX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.43028, + -2.91559, + 15.32774 + ], + "start_rotation": [ + 0, + 0.51284, + 0, + 0.85848 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.62544, + "euclidean_distance": 4.03647, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.29317, + -2.91559, + 15.51368 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b" + ], + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:35DR22AR5FNDZGBBFB3BP26I2RQX33", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.52237, + -2.91559, + 9.66971 + ], + "start_rotation": [ + 0, + 0.01141, + 0, + 0.99993 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.48244, + "euclidean_distance": 9.8463, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.56169, + -2.31559, + -0.19857 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0b302846f0994ec9851862b1d317d7f2", + "path": [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NJM2BJS4Y9W3753MD4VOSO95IUPCU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.07263, + -2.31559, + -3.53948 + ], + "start_rotation": [ + 0, + 0.99366, + 0, + -0.11239 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 19.58667, + "euclidean_distance": 13.82117, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.27383, + -2.81839, + 9.92452 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3X4MXAO0BIRQTIRNGW8L5HVQLFUWRF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.73677, + 3.48441, + 16.61212 + ], + "start_rotation": [ + 0, + 0.61097, + 0, + 0.79165 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.57191, + "euclidean_distance": 10.85249, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.96153, + 3.48839, + 5.68532 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3VFJCI1K412UWW1N1R43JE93STRRG5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.64914, + -2.91559, + 13.2811 + ], + "start_rotation": [ + 0, + 0.90041, + 0, + 0.43504 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.44923, + "euclidean_distance": 3.12025, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.16731, + -2.91559, + 14.82379 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DEL4X4EL8OEFJ8Z4WW1FW2VBNAYXP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.043, + 3.68441, + 12.78987 + ], + "start_rotation": [ + 0, + 0.18764, + 0, + -0.98224 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.91884, + "euclidean_distance": 14.07202, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.82628, + 0.68441, + -0.58834 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3D4CH1LGECWOSW517A4HST98JHT9GN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.19054, + -2.91559, + 12.78725 + ], + "start_rotation": [ + 0, + 0.00581, + 0, + 0.99998 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.24202, + "euclidean_distance": 1.95108, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.3895, + -2.91559, + 14.68016 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3G0WWMR1UXN0UN39BGSY488V9IOQNY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.53723, + 0.08441, + 12.90492 + ], + "start_rotation": [ + 0, + 0.98849, + 0, + 0.15132 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.59886, + "euclidean_distance": 2.46041, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.2773, + 0.08441, + 13.5791 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "c7b097de55f242fa8bdd795d3945637d", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "episode_id": "ARQR5NIFA1AJ:31N2WW6R9TTWZUKQFHXPJV6B1A73FA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.97499, + 0.08441, + 5.73128 + ], + "start_rotation": [ + 0, + 0.97028, + 0, + 0.24197 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.33573, + "euclidean_distance": 8.38892, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.06103, + 0.68441, + -1.97783 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "7a663a2787474bc2b09a4e8b21325141", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "7a663a2787474bc2b09a4e8b21325141", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3VHP9MDGRPNKCUG98A8QCYA4Q6GCFW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.63739, + -2.31559, + 1.45684 + ], + "start_rotation": [ + 0, + 0.46944, + 0, + 0.88297 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.55158, + "euclidean_distance": 4.08318, + "closest_goal_object_id": 486, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.6214, + -2.31559, + -0.8963 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3570Y55XZRM3TXD9FMWXRA20BT1GYX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.10966, + 3.64162, + 11.7564 + ], + "start_rotation": [ + 0, + 0.99908, + 0, + -0.04299 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.50332, + "euclidean_distance": 12.44231, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.50718, + 0.68441, + -0.31089 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WOKGM4L73JUOFYMVXYW4RHIQZFO0N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.68839, + 0.08441, + 6.63569 + ], + "start_rotation": [ + 0, + 0.97083, + 0, + 0.23977 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.78579, + "euclidean_distance": 8.31926, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.42224, + 3.48441, + 14.01064 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:31JLPPHS2WXQ57XJEKGF6PFPTA2O3J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.00032, + 0.68441, + -2.67921 + ], + "start_rotation": [ + 0, + 0.28063, + 0, + 0.95981 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.68084, + "euclidean_distance": 1.56314, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.49133, + 0.68441, + -1.18893 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:33C7UALJVN1RACWOKZD0LAARZ9018A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.05981, + 0.08441, + 10.04253 + ], + "start_rotation": [ + 0, + 0.79105, + 0, + -0.61175 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.50541, + "euclidean_distance": 8.62122, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.7291, + 3.48441, + 5.41231 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0_edge_128_newN_1", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:37TD41K0AJCTGZLVEU8PJXTKS22CSY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.84551, + 3.48441, + 7.29266 + ], + "start_rotation": [ + 0, + 0.8102, + 0, + 0.58615 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 4.59372, + "euclidean_distance": 4.59372, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.57149, + 3.49025, + 5.86166 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:3EA3QWIZ4KYL82KAV49145N1B40ITR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.65235, + 0.08441, + 12.56398 + ], + "start_rotation": [ + 0, + 0.65695, + 0, + 0.75394 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.56969, + "euclidean_distance": 7.96852, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.68626, + 3.48441, + 5.43502 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ERMJ6L4D0VK6NDU3G4SR22ZMRQM7Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.91046, + 0.08441, + 8.19275 + ], + "start_rotation": [ + 0, + 0.65923, + 0, + 0.75194 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.5029, + "euclidean_distance": 1.41275, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52528, + 0.08441, + 6.9251 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_65_newN_0", + "path": [ + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_190_newN_0", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "refined_path": [ + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ] + }, + { + "episode_id": "A1A6UVH1CCP8CD:3HRMW88U18T6OCDAIHJJCNSDV3MM00", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.77817, + 3.52325, + 6.48949 + ], + "start_rotation": [ + 0, + 0.99647, + 0, + 0.08391 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.50969, + "euclidean_distance": 6.08497, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.38676, + 0.08441, + 6.02645 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:37XITHEISYCHFKLIZ58KTNOOAEERCG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.95412, + -2.26059, + 1.32397 + ], + "start_rotation": [ + 0, + 0.84309, + 0, + 0.53777 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 9.94543, + "euclidean_distance": 5.42732, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.41766, + -2.91559, + 5.39001 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3R6BYFZZP9F8FSR4Z64DQBVF548FXH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.55838, + 0.08441, + 10.26453 + ], + "start_rotation": [ + 0, + 0.9436, + 0, + -0.3311 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.43372, + "euclidean_distance": 2.5884, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.62752, + 0.08441, + 7.86186 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "0_edge_65_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35K3O9HUADGZ9S0N41EL2MA8PB7FE8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.25684, + 0.08441, + 15.47593 + ], + "start_rotation": [ + 0, + 0.94884, + 0, + 0.31575 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.03361, + "euclidean_distance": 15.99536, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.1346, + 0.68441, + -0.03231 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3YMU66OBIPBH72NK5MS95A7XLZSGH6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.17513, + -2.91559, + 14.96811 + ], + "start_rotation": [ + 0, + 0.60839, + 0, + 0.79364 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.57266, + "euclidean_distance": 3.30111, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74698, + -2.91559, + 13.2955 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3KRVW3HTZPO6PLXMRJ23MTYV7XHSMO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.34396, + 0.08441, + 6.80792 + ], + "start_rotation": [ + 0, + 0.39128, + 0, + -0.92027 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.24855, + "euclidean_distance": 3.62049, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.40995, + 3.48441, + 5.70468 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:32UTUBMZ7IZQYMATUPHZJ079XQYBVV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.02609, + -2.91559, + 12.20844 + ], + "start_rotation": [ + 0, + 0.7069, + 0, + -0.70732 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 10.05771, + "euclidean_distance": 7.79142, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.78242, + -2.91559, + 13.34191 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "a991b11e3a524fab95a7a98c3ac18ee4", + "path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M68NM076JASZ3CHPEVH7NWEBWC6RH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.90291, + 0.08441, + 13.11727 + ], + "start_rotation": [ + 0, + 0.77315, + 0, + -0.63422 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.11219, + "euclidean_distance": 2.65277, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.91193, + 0.08441, + 15.86828 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:31Z0PCVWUMIOJI3ECD54DGXRG4WT7R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.10257, + 0.68441, + -0.74547 + ], + "start_rotation": [ + 0, + 0.96019, + 0, + -0.27934 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.05663, + "euclidean_distance": 1.69679, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.09735, + 0.68441, + -2.00595 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LO69W1SU5GJTY6AW777X204ZBYGLX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.36312, + 0.08441, + 14.47106 + ], + "start_rotation": [ + 0, + 0.80726, + 0, + -0.59019 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 16.23531, + "euclidean_distance": 6.2073, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.81974, + 0.08441, + 15.05885 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3OONKJ5DKEMV821WTDVLO8D1EEBOBR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.91455, + 3.48441, + 8.02257 + ], + "start_rotation": [ + 0, + 0.93132, + 0, + -0.36421 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.82747, + "euclidean_distance": 9.13729, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.82604, + 0.68441, + -0.61055 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3IO1LGZLKB0MHYXLQ5PHG619O0886M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.46309, + -2.91559, + 9.93345 + ], + "start_rotation": [ + 0, + 0.65848, + 0, + 0.7526 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.3519, + "euclidean_distance": 5.20786, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.01466, + -2.91559, + 5.99596 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:37WLF8U1WRT6CZZMZUMK6BA0J0IK6X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.46544, + 3.48441, + 4.09803 + ], + "start_rotation": [ + 0, + 0.96255, + 0, + -0.2711 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 6.66034, + "euclidean_distance": 5.49761, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.45578, + 0.68441, + -0.32096 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3MYYFCXHJ5ANVQZPQF8QBLYTD1A4GN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.10574, + 3.6527, + 13.40023 + ], + "start_rotation": [ + 0, + 0.26542, + 0, + -0.96413 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 10.31378, + "euclidean_distance": 9.56232, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.22234, + 3.48441, + 4.39101 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BF51CHDTXDKWYCZRK36KIKGV3OH0A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.02551, + 0.08441, + 6.30108 + ], + "start_rotation": [ + 0, + 0.89931, + 0, + -0.43732 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.25243, + "euclidean_distance": 8.21363, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.52514, + 3.48967, + 6.053 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + [ + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:31JLPPHS2WXQ57XJEKGF6PFOCMH3OI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.4206, + -2.91559, + 13.80306 + ], + "start_rotation": [ + 0, + 0.99995, + 0, + -0.00969 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 3.2882, + "euclidean_distance": 3.11292, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.56922, + -2.91559, + 16.22857 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3J88R45B2I1K65GYD90I259ITOVPX6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.19387, + 0.08441, + 6.41354 + ], + "start_rotation": [ + 0, + 0.87263, + 0, + 0.48839 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 19.36759, + "euclidean_distance": 3.48598, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.60761, + 3.48637, + 6.05116 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "a6ce5d580416478b847a83a2c537a637", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NL0RFNU0HQSXCV8G6T59DQMKINK42", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.77519, + -2.31559, + 0.23095 + ], + "start_rotation": [ + 0, + 0.49823, + 0, + -0.86705 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.15125, + "euclidean_distance": 3.72294, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.602, + -2.31559, + -3.01361 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3QXNC7EIPKYRHSUGT8FE71MSC6709Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.09248, + 0.08441, + 12.89548 + ], + "start_rotation": [ + 0, + 0.93141, + 0, + -0.36396 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.94645, + "euclidean_distance": 8.80947, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.41984, + 3.48441, + 5.70719 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "59d2f40b1fbf4784b2b661f05a439fad", + "path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A23LXQ5ZX2YONR:3K3R2QNK8D67XE6WRFTYW8A08VIU9C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.76871, + -2.31559, + 2.3296 + ], + "start_rotation": [ + 0, + 0.90896, + 0, + 0.41688 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.61128, + "euclidean_distance": 3.40765, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.43592, + -2.91559, + 5.23291 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f0307e707d50446097021ce802f44a4e", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OHYZ19UGE8QPSW4NZVPTXTVWWUAOM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.24946, + 0.68441, + -0.69594 + ], + "start_rotation": [ + 0, + 0.33625, + 0, + 0.94177 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.94843, + "euclidean_distance": 5.57429, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.34512, + 3.48441, + 3.32767 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:34FNN24DCOC5D0OPYQD6NDBBH6S5YD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.19799, + 0.08441, + 13.85568 + ], + "start_rotation": [ + 0, + 0.18484, + 0, + -0.98277 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 26.07518, + "euclidean_distance": 9.67227, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.48684, + 3.50028, + 6.1457 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "59d2f40b1fbf4784b2b661f05a439fad", + "path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:382M9COHEJIOSAXDZQ9KOMBAJX2EU2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.5755, + 3.48575, + 5.71709 + ], + "start_rotation": [ + 0, + 0.99888, + 0, + -0.04728 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.76206, + "euclidean_distance": 2.17057, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.23712, + 3.48441, + 4.35677 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + [ + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3IOEN3P9S9M46YD0RKG21WE17RL61A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.0799, + 0.08441, + 4.33635 + ], + "start_rotation": [ + 0, + 0.36155, + 0, + -0.93235 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.11551, + "euclidean_distance": 6.50367, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.09942, + 0.68441, + -2.20471 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "707a59ada1bc4b4f90638ddfa809ebd5", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3HL8HNGX474IEW96WQYZA89WID79FO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.93875, + 0.15737, + 5.4865 + ], + "start_rotation": [ + 0, + 0.16339, + 0, + 0.98656 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.79893, + "euclidean_distance": 7.32344, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.36869, + 3.48441, + 3.31321 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3RSDURM96CP59JHI9R69R7HOYE6YEK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.1332, + 0.08441, + 6.92797 + ], + "start_rotation": [ + 0, + 0.24825, + 0, + 0.9687 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.93573, + "euclidean_distance": 7.20658, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13154, + 0.68441, + -0.13775 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3U84XHCDIEGNM7UUG7WFWSEY8L8Z4H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.38296, + 0.08441, + 4.18962 + ], + "start_rotation": [ + 0, + 0.07911, + 0, + 0.99687 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.21908, + "euclidean_distance": 3.78511, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35183, + 0.08441, + 6.80973 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_190_newN_0", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf" + ], + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3QECW5O0KJ49WEPVOKQ7FWJVNFJT5Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.1973, + 0.68441, + 1.6431 + ], + "start_rotation": [ + 0, + 0.11953, + 0, + -0.99283 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.45608, + "euclidean_distance": 3.97392, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.40998, + 0.68441, + -2.18945 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3IXQG4FA2V1S1FXQROC3RIIC6USB9K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.0992, + 3.65159, + 9.52099 + ], + "start_rotation": [ + 0, + 0.474, + 0, + 0.88052 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.09273, + "euclidean_distance": 11.29123, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.91367, + 0.68441, + -0.64708 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:36V4Q8R5ZM3UC5I9ZFDYRTJVSTQQM0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.65, + 0.08441, + 10.62805 + ], + "start_rotation": [ + 0, + 0.14905, + 0, + -0.98883 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.60967, + "euclidean_distance": 3.273, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.80329, + 0.08441, + 7.85338 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3HHRAGRYXA8CK9MZVTHPX2IAAES9O4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.38023, + 0.08441, + 5.84342 + ], + "start_rotation": [ + 0, + 0.5674, + 0, + -0.82345 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.97127, + "euclidean_distance": 6.05448, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.03434, + 0.68441, + -0.15454 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3Z4GS9HPNXD1LK67ZA238K5A5OA77C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.88547, + 0.08441, + 8.73215 + ], + "start_rotation": [ + 0, + 0.3783, + 0, + 0.92568 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.80551, + "euclidean_distance": 11.67021, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.27336, + 0.68441, + -2.92575 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3WJEQKOXAA55T0P3HXXEH1GN3AL1A5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.09333, + 0.08441, + 16.3966 + ], + "start_rotation": [ + 0, + 0.97636, + 0, + 0.21615 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 24.42032, + "euclidean_distance": 19.41239, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.31462, + 0.68441, + -2.92516 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3GA6AFUKOQRGDQBWA7LPMGIOE1YH3L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.71368, + 3.68715, + 11.56899 + ], + "start_rotation": [ + 0, + 0.99977, + 0, + 0.02145 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.80316, + "euclidean_distance": 5.45937, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05543, + 0.08441, + 9.98847 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3S4AW7T80DL3HIDQ1656OD319IX4LU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.48189, + 3.48441, + 15.69336 + ], + "start_rotation": [ + 0, + 0.21051, + 0, + 0.97759 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 18.07936, + "euclidean_distance": 16.5228, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.47204, + 0.7988, + -0.25079 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3VHHR074H5K005V9343DRPNB38Y7L7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.16012, + 0.68441, + 0.93421 + ], + "start_rotation": [ + 0, + 0.76493, + 0, + -0.64412 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 13.24296, + "euclidean_distance": 8.51158, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.61496, + 0.08441, + 7.25004 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + [ + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3NGI5ARFTV8CG4V56GFB7W5I2WO1PO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.35044, + -2.91559, + 11.73369 + ], + "start_rotation": [ + 0, + 0.81172, + 0, + -0.58404 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.52978, + "euclidean_distance": 5.33427, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.82446, + -2.91559, + 8.88842 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "a991b11e3a524fab95a7a98c3ac18ee4", + "path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_196_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WZ36BJEV5JBLU64PUHKIIJODMVTBL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.80882, + 3.68441, + 12.55364 + ], + "start_rotation": [ + 0, + 0.94299, + 0, + 0.33282 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.50631, + "euclidean_distance": 8.66606, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.15313, + 3.48441, + 4.38509 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3QY5DC2MXTNGYOX9U1TQ64WBBULFUZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.25743, + 0.68441, + 2.15787 + ], + "start_rotation": [ + 0, + 0.04762, + 0, + -0.99887 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.21235, + "euclidean_distance": 2.08311, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.81835, + 0.68441, + 0.14366 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:382M9COHEJIOSAXDZQ9KOMBBZL9EU3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.77557, + -2.31559, + 1.2393 + ], + "start_rotation": [ + 0, + 0.97927, + 0, + -0.20257 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.10636, + "euclidean_distance": 3.55797, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.04775, + -2.31559, + -2.39112 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:3L0KT67Y8GJ6J2M0AMQEGOL3Z4GSYE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.49961, + 0.08441, + 6.1251 + ], + "start_rotation": [ + 0, + 0.01359, + 0, + -0.99991 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 19.4285, + "euclidean_distance": 5.17743, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.66232, + 3.48441, + 5.43006 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3CN4LGXD5ZRNHHKPKLUWIL5W48Y4YP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.52415, + 0.08441, + 13.97974 + ], + "start_rotation": [ + 0, + 0.19385, + 0, + -0.98103 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.85368, + "euclidean_distance": 9.80398, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69452, + 3.48441, + 5.47546 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35L9RVQFCQL0CKOFPRHQ9P8NDJ8HUD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.87453, + -2.91559, + 11.64314 + ], + "start_rotation": [ + 0, + 0.95134, + 0, + -0.30814 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.04106, + "euclidean_distance": 6.21809, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.69815, + -2.91559, + 15.2004 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "a991b11e3a524fab95a7a98c3ac18ee4", + "path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RWE2M8QWJDC6UYAUIYJP2HDXOL0NQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.20824, + 0.68441, + 1.67223 + ], + "start_rotation": [ + 0, + 0.42651, + 0, + -0.90448 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.09843, + "euclidean_distance": 1.027, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.30022, + 0.68441, + 1.20413 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TOK3KHVJVL86QY6GWJ5J6R4E1B7OM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.42303, + 0.08441, + 12.19606 + ], + "start_rotation": [ + 0, + 0.96754, + 0, + -0.25271 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 24.88169, + "euclidean_distance": 7.5625, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.58015, + 3.48786, + 6.05574 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_190_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "a6ce5d580416478b847a83a2c537a637", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "80f652ffcdfa47ada388a00233624799", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "80f652ffcdfa47ada388a00233624799", + [ + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A75XDPFNICR3T:31Q0U3WYDRINAYR5AULU7AEX29J17W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.17559, + -2.91559, + 12.78586 + ], + "start_rotation": [ + 0, + 0.906, + 0, + -0.42327 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.28243, + "euclidean_distance": 3.87241, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.28294, + -2.91559, + 15.44365 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A3JI3B5GTVA95F:30BUDKLTXFY77V7YYP1CGAJV387E5N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.60242, + 0.08441, + 9.59113 + ], + "start_rotation": [ + 0, + 0.18889, + 0, + -0.982 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.5468, + "euclidean_distance": 6.91015, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61504, + 3.48441, + 5.50335 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2BF2FUO6F63N7:3VAR3R6G1R4C643PQ1BBX6NZSASO8I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.42585, + -2.91559, + 15.81729 + ], + "start_rotation": [ + 0, + 0.19481, + 0, + -0.98084 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.63643, + "euclidean_distance": 1.99512, + "closest_goal_object_id": 337, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.53408, + -2.91559, + 15.04302 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "74bbacaafe014759bb9a6cc694d72516", + "path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2" + ], + "refined_path": [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3QAVNHZ3EO7IJ7T7A7FX1GP14KMALR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.53886, + 0.08441, + 8.48267 + ], + "start_rotation": [ + 0, + 0.99518, + 0, + -0.0981 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.10774, + "euclidean_distance": 2.9123, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05175, + 0.08441, + 10.06662 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IUZPWIU1QA46EESQCZO459D7ZZKWG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.73049, + 0.68441, + -2.20087 + ], + "start_rotation": [ + 0, + 0.16009, + 0, + 0.9871 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.44006, + "euclidean_distance": 16.4934, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.42892, + 3.48441, + 13.9866 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:36PW28KO41Z4D1JFTLSTOLZHSQUEAK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.64499, + 3.48441, + 16.78361 + ], + "start_rotation": [ + 0, + 0.18539, + 0, + 0.98267 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 20.36682, + "euclidean_distance": 17.73455, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71735, + 0.68441, + -0.67891 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "0_edge_113_newN_0", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3KV0LJBBH4OUO6X9CU2YWJT01UWRMD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.17893, + 3.56387, + 13.6367 + ], + "start_rotation": [ + 0, + 0.30408, + 0, + 0.95265 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.61402, + "euclidean_distance": 3.29159, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.94554, + 3.48441, + 14.79186 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DZQRBDBSNI53ZPCL1XOQUPQNDBS3F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.88612, + -2.51559, + 13.68583 + ], + "start_rotation": [ + 0, + 0.64047, + 0, + -0.76798 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 14.62035, + "euclidean_distance": 13.53403, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.82996, + -2.31559, + 0.29676 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "60668601cee245e5bb27a12d0b022918", + "de87c39b7dd046bda1f0819c53670338", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ERET4BTVOCTUI1KX1PWQL129W39K0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.41409, + -2.31559, + -0.8531 + ], + "start_rotation": [ + 0, + 0.93857, + 0, + -0.34508 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.84302, + "euclidean_distance": 12.85873, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.22656, + -2.84192, + 9.98291 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "a55a46bc13e743ca8626a97ac056b8f3", + "path": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3S0TNUHWKVLL27C00SXVMCB12K9D8Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.91904, + 0.08441, + 8.3736 + ], + "start_rotation": [ + 0, + 0.42987, + 0, + 0.90289 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.09922, + "euclidean_distance": 12.31154, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.48598, + 0.68441, + -3.14868 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3WSELTNVR5562K1CJGHON7ZIYW5ATP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.54571, + 0.08441, + 7.28678 + ], + "start_rotation": [ + 0, + 0.87169, + 0, + 0.49005 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.40722, + "euclidean_distance": 5.51642, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.65085, + 3.48441, + 5.62298 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "a6ce5d580416478b847a83a2c537a637", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NXNZ5RS1C05Z3U0E70NMGWFI1S798", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.49571, + 0.08441, + 15.95377 + ], + "start_rotation": [ + 0, + 0.58302, + 0, + -0.81246 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 2.75182, + "euclidean_distance": 2.11368, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.37071, + 0.08441, + 13.73652 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:30H4UDGLT4L9CTHUZ2Y9ROTL3B3MPC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.7776, + 3.48441, + 16.71379 + ], + "start_rotation": [ + 0, + 0.96961, + 0, + 0.24467 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 19.39545, + "euclidean_distance": 17.41257, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.49356, + 0.80578, + -0.19442 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3VW6495TLL33FOY99SI3YA93Z07YYW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.26479, + 0.08441, + 7.8944 + ], + "start_rotation": [ + 0, + 0.89985, + 0, + -0.43619 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.03284, + "euclidean_distance": 2.6347, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.10162, + 0.08441, + 9.43151 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3I7DHKZYGP3ZD97UT0LIYS4VC63F5E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.30301, + -2.91559, + 6.96136 + ], + "start_rotation": [ + 0, + 0.99471, + 0, + 0.1027 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.36226, + "euclidean_distance": 3.20029, + "closest_goal_object_id": 419, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.41489, + -2.91559, + 5.5555 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3MD9PLUKKKH98F40YCBBV1KZI0GZN6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.24058, + 0.08441, + 9.49004 + ], + "start_rotation": [ + 0, + 0.87729, + 0, + -0.47996 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.16913, + "euclidean_distance": 4.27215, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.0642, + 0.08441, + 8.91321 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LS2AMNW5HTIC83LCVSBJX8ZMM3QOW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.02099, + 3.64894, + 11.87656 + ], + "start_rotation": [ + 0, + 0.98417, + 0, + -0.17723 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.74938, + "euclidean_distance": 3.72676, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.82974, + 3.48441, + 14.19045 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YGXWBAF72KAEEJKOTC7LUDEIWUC4A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.26133, + 0.08441, + 15.87834 + ], + "start_rotation": [ + 0, + 0.91727, + 0, + -0.39826 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 26.80105, + "euclidean_distance": 10.39395, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.52623, + 3.50026, + 6.16057 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3C5W7UE9CHTEL2JLLT8QL1FNMITXMN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.81824, + 0.08441, + 16.01728 + ], + "start_rotation": [ + 0, + 0.1084, + 0, + 0.99411 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.87713, + "euclidean_distance": 16.21794, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.0972, + 0.68441, + -0.19177 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BDCF01OGZXJFPRAQDTD42784CPLYB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.05528, + 3.53885, + 8.07686 + ], + "start_rotation": [ + 0, + 0.93858, + 0, + -0.34507 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.01103, + "euclidean_distance": 7.33595, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99627, + 3.48441, + 14.79811 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:3NC5L260MQPLLJDCYFHH7Y4MW5OOFJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.25647, + 0.08441, + 7.67229 + ], + "start_rotation": [ + 0, + 0.98223, + 0, + 0.1877 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.72619, + "euclidean_distance": 7.96658, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.14493, + 0.68441, + -0.16535 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:30IQTZXKAM9HIOCEWOLSN48BZ9KX0A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.86866, + -2.8573, + 9.95401 + ], + "start_rotation": [ + 0, + 0.54153, + 0, + -0.84068 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 8.13152, + "euclidean_distance": 7.65844, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.09169, + -2.91559, + 6.53799 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:392CY0QWG3U1RH5KG38TWXB9FWMI40", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.84665, + 0.08441, + 11.05354 + ], + "start_rotation": [ + 0, + 0.36776, + 0, + 0.92992 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.09946, + "euclidean_distance": 1.97837, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.04569, + 0.08441, + 10.01539 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34S9DKFK75S93PUV2Q9SHUBWVGAYND", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.20623, + 0.4149, + 3.78193 + ], + "start_rotation": [ + 0, + 0.18684, + 0, + 0.98239 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 16.15277, + "euclidean_distance": 7.55247, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.47305, + 0.08441, + 7.3705 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "64565f72062245da87430cc31dd383d9", + "path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "refined_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3ZDAD0O1T3GIYX95UQ927FAFGDAXTJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.54839, + -2.31559, + 0.89079 + ], + "start_rotation": [ + 0, + 0.92977, + 0, + 0.36815 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.35159, + "euclidean_distance": 15.03738, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32959, + -2.91559, + 15.49208 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3O6CYIULEF4I9AJ4KQ3QASIASD8WUR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.29289, + 3.70614, + 13.27776 + ], + "start_rotation": [ + 0, + 0.73194, + 0, + 0.68137 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.96241, + "euclidean_distance": 3.5425, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00881, + 3.48441, + 14.80663 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3BQU611VFRN9DMITT4Y70CNLF0N99D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.79914, + 0.68441, + 0.61935 + ], + "start_rotation": [ + 0, + 0.6464, + 0, + -0.763 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.66492, + "euclidean_distance": 5.51131, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.66142, + 3.48441, + 5.45336 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3G5W44VEU9L89SOSB7V6I2NPDDXGK5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.44803, + 3.56795, + 11.33139 + ], + "start_rotation": [ + 0, + 0.62266, + 0, + 0.78249 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.34684, + "euclidean_distance": 4.40162, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.78568, + 3.48441, + 14.16114 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3NKQQ8O3908J04JD3VY0I4TQZMFDU6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.93559, + -2.73525, + 3.78136 + ], + "start_rotation": [ + 0, + 0.22078, + 0, + -0.97532 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.84526, + "euclidean_distance": 3.49724, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.77206, + -2.31559, + 0.32364 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3L70J4KAZIPZLV5FXQH9I3HVCJSADE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.33543, + -2.91559, + 15.81781 + ], + "start_rotation": [ + 0, + 0.47522, + 0, + -0.87987 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.87325, + "euclidean_distance": 5.60764, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.76771, + -2.91559, + 13.46722 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:304SM51WA57A6UTP0UCU8DN2B4PSB5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.08887, + 0.08441, + 9.66321 + ], + "start_rotation": [ + 0, + 0.9838, + 0, + 0.17925 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 19.70404, + "euclidean_distance": 10.21525, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.30517, + 3.48441, + 3.45586 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "2b4fc2765e164775bb82e0aaf1d0d65d", + "path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_128_newN_1", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:3A4TN5196ML4QQ7F30WQFJMH6DFHC5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.71105, + 0.15926, + 5.2664 + ], + "start_rotation": [ + 0, + 0.30328, + 0, + -0.9529 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 17.54206, + "euclidean_distance": 6.19426, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.41407, + 3.50144, + 6.12963 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + [ + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A30VAYXB85107X:339ANSOTR75M5JUN1VV93E049ZJIKQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.13414, + -2.91559, + 6.00116 + ], + "start_rotation": [ + 0, + 0.9437, + 0, + 0.33081 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 6.83541, + "euclidean_distance": 6.31395, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.66164, + -2.31559, + -0.14503 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "path": [ + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3L4PIM1GQVJUINMNVXQ9QEG7AAGRYL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.0806, + 0.08441, + 15.69679 + ], + "start_rotation": [ + 0, + 0.1763, + 0, + -0.98434 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 24.91348, + "euclidean_distance": 13.80535, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.35274, + 3.48441, + 3.37562 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A74PT3GRDMEZ:3TMSXRD2X8320DS6I2T6ZQDEYW41W5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.01406, + 0.08441, + 11.23477 + ], + "start_rotation": [ + 0, + 0.90601, + 0, + -0.42325 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.52076, + "euclidean_distance": 7.56833, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67859, + 3.48441, + 5.46086 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3VFJCI1K412UWW1N1R43JE9387DRGZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.95502, + 0.68441, + -3.17608 + ], + "start_rotation": [ + 0, + 0.64471, + 0, + -0.76442 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 10.48451, + "euclidean_distance": 9.85635, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.3117, + 0.08441, + 6.05596 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3C5W7UE9CHTEL2JLLT8QL1FO59AXM7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.04036, + -2.31559, + -2.3989 + ], + "start_rotation": [ + 0, + 0.33994, + 0, + 0.94045 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.15472, + "euclidean_distance": 8.42273, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.07058, + -2.91559, + 5.74326 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39L1G8WVWSU59FQI8II4UT2GH4631E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.89769, + 0.08441, + 7.20839 + ], + "start_rotation": [ + 0, + 0.53577, + 0, + -0.84436 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.2985, + "euclidean_distance": 10.13333, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.95324, + 3.48441, + 14.75533 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:31EUONYN2X6AHGZ2YUMLPK78H77VOM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.85449, + 0.08441, + 9.72139 + ], + "start_rotation": [ + 0, + 0.81927, + 0, + -0.57341 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.82357, + "euclidean_distance": 4.91192, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.06755, + 0.08441, + 8.93281 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:39N5ACM9HGQU59Y0ATU4M2N13BUP9C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.39114, + 0.08441, + 10.54931 + ], + "start_rotation": [ + 0, + 0.53544, + 0, + -0.84457 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.43457, + "euclidean_distance": 8.38787, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.5582, + 3.48441, + 5.60832 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3OLF68YTNB4WJFJBOWCZ63KGQXZFAP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.70255, + 0.68441, + 0.42432 + ], + "start_rotation": [ + 0, + 0.62205, + 0, + -0.78298 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.68164, + "euclidean_distance": 7.55908, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.56211, + 3.48441, + 6.00467 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ] + }, + { + "episode_id": "AS2MFSWNC5CQI:3U8YCDAGXRJX9RB2AAQ0TWCI2ZSQ0N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.31316, + 0.08441, + 8.62921 + ], + "start_rotation": [ + 0, + 0.98868, + 0, + 0.15007 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 20.71944, + "euclidean_distance": 5.94555, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.49086, + 0.08441, + 7.36549 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "7d01dee740ef4288b111dc65f449ca22", + "path": [ + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "refined_path": [ + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141" + ], + "3ffabcbad5894c6e8f03f54453a1e2e9", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + [ + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:31EUONYN2X6AHGZ2YUMLPK78HL7VOE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.18116, + 0.08441, + 10.12124 + ], + "start_rotation": [ + 0, + 0.9885, + 0, + -0.15122 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 19.93635, + "euclidean_distance": 5.95176, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.57471, + 3.48441, + 5.98966 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "40eda297975f4648bbc301ff98940fcf", + "a6ce5d580416478b847a83a2c537a637", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_195_newN_3", + "c7b097de55f242fa8bdd795d3945637d", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf" + ], + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3Z7VU45IP0K6U8XBTPDDYU7WFV51ZM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.18572, + -2.91559, + 6.4694 + ], + "start_rotation": [ + 0, + 0.24013, + 0, + 0.97074 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.03453, + "euclidean_distance": 3.25946, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.80495, + -2.91559, + 8.73699 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "f0307e707d50446097021ce802f44a4e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + [ + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3WT783CTPDKUZD4T38MUT8JKSSIBCU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.81768, + -2.31559, + 2.15861 + ], + "start_rotation": [ + 0, + 0.25437, + 0, + -0.96711 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 9.23612, + "euclidean_distance": 4.63951, + "closest_goal_object_id": 419, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.17492, + -2.91559, + 4.97571 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3V0Z7YWSI03WA9AXBWOOI745GWB2VB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.71426, + 0.08441, + 6.36947 + ], + "start_rotation": [ + 0, + 0.99278, + 0, + -0.11994 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 21.90144, + "euclidean_distance": 3.69763, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.58587, + 3.48441, + 5.4549 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3M1CVSFP628TA49K2CNTI2OVERJQA8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.9797, + -2.91559, + 11.98326 + ], + "start_rotation": [ + 0, + 0.46037, + 0, + -0.88773 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.9592, + "euclidean_distance": 3.90161, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71745, + -2.91559, + 13.49756 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_153_newN_0", + "path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3TOK3KHVJVL86QY6GWJ5J6R4HWCO7X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.9926, + 0.08441, + 3.93365 + ], + "start_rotation": [ + 0, + 0.21116, + 0, + -0.97745 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 6.75808, + "euclidean_distance": 6.10364, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.16082, + 0.68441, + -2.07627 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3EJPLAJKEOJ11UY8ZVPUTQYDN51Z6W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.16048, + -2.91559, + 14.64526 + ], + "start_rotation": [ + 0, + 0.46335, + 0, + 0.88617 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.23629, + "euclidean_distance": 4.82224, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.87332, + -2.91559, + 11.98813 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "4b77e304d83943999198c3cd4457512c", + "path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:32M8BPYGAVPH3XY4B4AU5M8CLA2IGS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.7918, + 3.48441, + 10.29763 + ], + "start_rotation": [ + 0, + 0.94778, + 0, + 0.31894 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.62487, + "euclidean_distance": 11.12023, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.46833, + 0.68441, + -0.26675 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3QECW5O0KJ49WEPVOKQ7FWJWQ9O5T0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.10135, + -2.91559, + 5.91098 + ], + "start_rotation": [ + 0, + 0.37121, + 0, + 0.92855 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.62588, + "euclidean_distance": 6.63158, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.72225, + -2.91559, + 11.73012 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A16K7X677N4WN6:3B3WTRP3DD5YD2XU8VJSQPF8SXE92D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.57688, + 0.53311, + 3.00773 + ], + "start_rotation": [ + 0, + 0.76055, + 0, + -0.64927 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 15.1773, + "euclidean_distance": 7.42525, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.6541, + 0.08441, + 7.25406 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:308Q0PEVBAG2ONBWXY4KD5MOY6PI9G", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.35627, + -2.31559, + 1.07969 + ], + "start_rotation": [ + 0, + 0.60904, + 0, + -0.79314 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.39187, + "euclidean_distance": 4.66731, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.72081, + -2.31559, + -2.96288 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3PS7W85Z815SX1R7RA3ORCOYSBD9TT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.53553, + 0.08441, + 6.16708 + ], + "start_rotation": [ + 0, + 0.99055, + 0, + 0.13714 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 25.25295, + "euclidean_distance": 10.39759, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37328, + 3.48441, + 13.95978 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "a6ce5d580416478b847a83a2c537a637", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3IGI0VL649NX9BQTW30UF3DVVZBNOT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.6266, + 3.48441, + 8.11414 + ], + "start_rotation": [ + 0, + 0.1493, + 0, + 0.98879 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.12427, + "euclidean_distance": 6.25825, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.26053, + 0.08441, + 6.10953 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3YJ6NA41JDJJBLB9W5LHBW13GIPJP3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.12828, + 3.66149, + 13.69938 + ], + "start_rotation": [ + 0, + 0.94377, + 0, + -0.3306 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.86181, + "euclidean_distance": 14.49224, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.33736, + 0.68441, + -0.33273 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:35BLDD71I80MGKD903X25IECOQQZVP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.05399, + 3.48441, + 15.5703 + ], + "start_rotation": [ + 0, + 0.80171, + 0, + 0.59772 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 17.86611, + "euclidean_distance": 16.514, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.54517, + 0.81477, + -0.2334 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3S06PH7KST73R7SF17OG72OSAUHD10", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.32405, + 0.08441, + 6.16444 + ], + "start_rotation": [ + 0, + 0.89661, + 0, + 0.44283 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 18.27211, + "euclidean_distance": 5.90864, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.61369, + 0.08441, + 7.38523 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R6P78PK7ME7CBEF5G9YJTALTUKGTC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.20013, + -1.49366, + 1.383 + ], + "start_rotation": [ + 0, + 0.06209, + 0, + -0.99807 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.04145, + "euclidean_distance": 4.57762, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49221, + -2.91559, + 5.38714 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3264da900f47425c8c062f909db9abe0", + "path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JWH6J9I9UGDQH1KSYV89JDWOY1BNI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.88142, + 0.08441, + 9.86187 + ], + "start_rotation": [ + 0, + 0.60513, + 0, + 0.79612 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.10992, + "euclidean_distance": 6.30526, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.95841, + 3.48441, + 14.67946 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "0993008242df4171b26c1bf92ff5e845", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3U4J9857OGEONW9XCREJDMR6B8Q7BY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.48371, + -2.31559, + -3.27331 + ], + "start_rotation": [ + 0, + 0.99715, + 0, + -0.0754 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.73845, + "euclidean_distance": 3.36288, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.79821, + -2.31559, + 0.07856 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3H32595TVJ34Q:3QHK8ZVMIOLN2HYZGLFTWR97J52BLL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.3647, + 0.08441, + 6.14508 + ], + "start_rotation": [ + 0, + 0.60803, + 0, + -0.79392 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 6.01726, + "euclidean_distance": 5.74168, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.29065, + 0.08441, + 6.70118 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3W92K5RLWWKO96TKTFQMGE7H01G5VJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.28414, + 1.01393, + 0.27329 + ], + "start_rotation": [ + 0, + 0.6121, + 0, + 0.79078 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.99227, + "euclidean_distance": 5.94485, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.57674, + 3.48441, + 5.37063 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "a3fe827d49db4f7caa076c313434d418", + "path": [ + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3QAPZX2QN6GGH89H8Z0ZXEEF9MU20A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.37954, + -2.91559, + 8.97237 + ], + "start_rotation": [ + 0, + 0.12906, + 0, + -0.99164 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.95964, + "euclidean_distance": 9.08625, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.61403, + -2.31559, + -0.07031 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_181_newN_1", + "path": [ + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3Z3ZLGNNSKXTQJAZTX8JVUAP5OL3QU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.6066, + 3.48832, + 10.39906 + ], + "start_rotation": [ + 0, + 0.23064, + 0, + -0.97304 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.61927, + "euclidean_distance": 3.45248, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00058, + 0.08441, + 9.98567 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3M0BCWMB8XZ3DBAYKZMV52QM1GPWB8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.80143, + 3.51607, + 10.21028 + ], + "start_rotation": [ + 0, + 0.99918, + 0, + 0.04057 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.0618, + "euclidean_distance": 11.2462, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.8706, + 0.68441, + -0.60787 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3MRNMEIQW79GHEWJUH6ZRHX682FLDB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.35041, + 0.68441, + 0.22144 + ], + "start_rotation": [ + 0, + 0.65005, + 0, + -0.75989 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.26433, + "euclidean_distance": 6.4873, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.5745, + 3.48441, + 5.52628 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3QILPRALQ7YUOJ3DPMBYIHNU2AZ8NJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.87593, + -2.91559, + 16.96085 + ], + "start_rotation": [ + 0, + 0.11299, + 0, + -0.9936 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.24885, + "euclidean_distance": 7.62654, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.40325, + -2.91559, + 14.74336 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:32N49TQG3ILLFC51OBH3OPN2EWUVAA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.49973, + 1.50949, + 0.96298 + ], + "start_rotation": [ + 0, + 0.60432, + 0, + 0.79674 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 6.82892, + "euclidean_distance": 5.23784, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55897, + 3.48441, + 5.35099 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "50476a17346a4879906f81b47b9418de", + "path": [ + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "a6ce5d580416478b847a83a2c537a637", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de" + ], + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + [ + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:37ZHEEHM6YPJK15KXYZDV3TUNED733", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.13731, + -2.81726, + 3.92508 + ], + "start_rotation": [ + 0, + 0.61704, + 0, + -0.78693 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.03708, + "euclidean_distance": 7.6215, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.2041, + -2.31559, + -3.44169 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6" + ], + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3R08VXYT7EYGBZ787IAF004RYRMW7U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.23639, + -2.91559, + 6.07865 + ], + "start_rotation": [ + 0, + 0.93034, + 0, + 0.36669 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.75669, + "euclidean_distance": 6.09874, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.67295, + -2.91559, + 11.66261 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AMYURTQIMAC8T:3X65QVEQI2Q6CMQ5ULBO7BFP1VYCLZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.04977, + -2.91559, + 6.44523 + ], + "start_rotation": [ + 0, + 0.74841, + 0, + -0.66324 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.12884, + "euclidean_distance": 10.98869, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.73921, + -2.31559, + -3.45746 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3E4GGUZ1TAUIUYGLCSAHGYTONKYK2W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.59782, + 0.08441, + 9.96156 + ], + "start_rotation": [ + 0, + 0.36714, + 0, + -0.93017 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.55446, + "euclidean_distance": 10.48046, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.08374, + 0.68441, + -0.07726 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3U0SRXB7CF806OI9OVHY9YIZQKLRNA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.84173, + 0.08441, + 6.18204 + ], + "start_rotation": [ + 0, + 0.99966, + 0, + 0.02625 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.88624, + "euclidean_distance": 3.46497, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49957, + 3.48441, + 5.64502 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3F6KKYWMND465EZ46UME491WE9KDN1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.78572, + -2.31559, + 2.30398 + ], + "start_rotation": [ + 0, + 0.59058, + 0, + 0.80698 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.60337, + "euclidean_distance": 5.27967, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.62267, + -2.31559, + -3.10608 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3D8YOU6S9GNKFV4YT8QMCYJX2Z2U6L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.99196, + 0.14245, + 6.09746 + ], + "start_rotation": [ + 0, + 0.98702, + 0, + -0.16061 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 3.57542, + "euclidean_distance": 3.31832, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.09471, + 0.08441, + 7.45755 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3SNVL38CI6VVSG8N9LZNSB29WE0KCV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.45067, + -2.91559, + 9.1577 + ], + "start_rotation": [ + 0, + 0.84953, + 0, + -0.52754 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.67953, + "euclidean_distance": 3.08637, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.8355, + -2.91559, + 11.90171 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_181_newN_1", + "path": [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "0_edge_196_newN_0", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:392CY0QWG3U1RH5KG38TWXB9FUAI4K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.45426, + 3.68441, + 10.94757 + ], + "start_rotation": [ + 0, + 0.72779, + 0, + 0.6858 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.88498, + "euclidean_distance": 7.46908, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.19271, + 3.48441, + 4.37151 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3DIP6YHAPEVQUDQ0WN8FSUTM5Z2E8L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.35509, + 3.48441, + 15.71759 + ], + "start_rotation": [ + 0, + 0.36886, + 0, + 0.92949 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 18.97695, + "euclidean_distance": 16.76028, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.79714, + 0.68441, + -0.62142 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3N2BF7Y2VSXHZCJ6GPQ4IFRU17JHMM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.5219, + 3.6013, + 7.42586 + ], + "start_rotation": [ + 0, + 0.63373, + 0, + 0.77356 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.5244, + "euclidean_distance": 8.90146, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.87315, + 0.68441, + -0.69264 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:32KTQ2V7RFIOK61NID2C5YT5HLB9M3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.44355, + -2.91559, + 12.09971 + ], + "start_rotation": [ + 0, + 0.62419, + 0, + 0.78127 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.52306, + "euclidean_distance": 4.12188, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.83349, + -2.91559, + 15.36316 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3R6BYFZZP9F8FSR4Z64DQBVF87CXFC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.42164, + 0.68441, + 0.15 + ], + "start_rotation": [ + 0, + 0.78826, + 0, + 0.61534 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 3.75515, + "euclidean_distance": 3.03965, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.25115, + 0.68441, + -2.93027 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_131_newN_1", + "path": [ + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "0_edge_131_newN_1", + "0_edge_131_newN_0", + [ + "0_edge_131_newN_1" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3TUI152ZZDQXGGWK6TU071VSUMMQ1R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.96247, + -2.91559, + 6.96577 + ], + "start_rotation": [ + 0, + 0.66365, + 0, + 0.74804 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 11.58447, + "euclidean_distance": 6.96085, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.74507, + -2.91559, + 11.72826 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3CN4LGXD5ZRNHHKPKLUWIL5W2R54YW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.03617, + 0.08441, + 14.38975 + ], + "start_rotation": [ + 0, + 0.85817, + 0, + 0.51337 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 25.33574, + "euclidean_distance": 9.57452, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55761, + 3.48441, + 5.64314 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3AMYWKA6YDPP2QK1XMEDDSR90FNO6X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.94664, + -2.91559, + 5.69463 + ], + "start_rotation": [ + 0, + 0.02738, + 0, + 0.99962 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.58996, + "euclidean_distance": 5.99811, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.72362, + -2.91559, + 11.59737 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "99fa48d974fa43988f369b0e5766b36e", + "path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3OUYGIZWR91C9FANAXBBTRM7JRD0P9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.06855, + 3.67105, + 8.31486 + ], + "start_rotation": [ + 0, + 0.56931, + 0, + 0.82212 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 13.25272, + "euclidean_distance": 9.42176, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.50574, + 0.68441, + -0.32193 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + [ + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + ] + }, + { + "episode_id": "AD1ILDUXZHASF:39GHHAVOMHUXMSPQYLTT8YQ98KMJ4M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07478, + 0.08441, + 14.98114 + ], + "start_rotation": [ + 0, + 0.37442, + 0, + -0.92726 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.41414, + "euclidean_distance": 3.96418, + "closest_goal_object_id": 254, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.32433, + 0.08441, + 13.01024 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:38SKSKU7R30XPPC5MV7AIEDK1EXLI4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.4656, + 0.08441, + 2.72175 + ], + "start_rotation": [ + 0, + 0.97054, + 0, + 0.24093 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.25225, + "euclidean_distance": 4.57099, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.09786, + 0.68441, + -0.16744 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3K4J6M3CXGW2XFF6ZGIHOOKT5DBAGD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.93544, + -2.31559, + 1.94454 + ], + "start_rotation": [ + 0, + 0.96838, + 0, + 0.24947 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.1262, + "euclidean_distance": 4.92616, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.51589, + -2.31559, + -3.06015 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f" + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:39O5D9O87VVPWI0GOF7OBPL84WD3CV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.23803, + -2.91296, + 4.64469 + ], + "start_rotation": [ + 0, + 0.01336, + 0, + 0.99991 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.11236, + "euclidean_distance": 6.1511, + "closest_goal_object_id": 376, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -5.33228, + -2.91559, + 9.37216 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3E47SOBEYSZ4MLIZ9IEBFVNXKFVICU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.08524, + 0.08441, + 4.06595 + ], + "start_rotation": [ + 0, + 0.83047, + 0, + -0.55707 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.7958, + "euclidean_distance": 11.43352, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.366, + 3.48441, + 13.94351 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_234_newN_0", + "path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3I7DHKZYGP3ZD97UT0LIYS4UYO05FL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.91695, + 0.08441, + 12.037 + ], + "start_rotation": [ + 0, + 0.98036, + 0, + -0.19722 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 15.25197, + "euclidean_distance": 14.45934, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.12472, + 0.68441, + -2.15197 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3ZPPDN2SLXZQ8I9A1FETSQOXP0IE9Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.71014, + -2.91559, + 14.37135 + ], + "start_rotation": [ + 0, + 0.9933, + 0, + -0.1156 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 5.40704, + "euclidean_distance": 4.54499, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.47962, + -2.91559, + 16.0882 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "4b77e304d83943999198c3cd4457512c", + "path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3QXNC7EIPKYRHSUGT8FE71MTFRX900", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.50672, + 0.08441, + 13.84061 + ], + "start_rotation": [ + 0, + 0.09713, + 0, + 0.99527 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 8.81384, + "euclidean_distance": 6.63193, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 2.97726, + 0.08441, + 8.85075 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "ef277969af8e477495075389c3e06da6", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7" + ], + "8072791758d146aba5ff98920a81fa0c", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c" + ], + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:39L1G8WVWSU59FQI8II4UT2H04X13O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.57136, + 0.68441, + -2.65537 + ], + "start_rotation": [ + 0, + 0.19454, + 0, + 0.98089 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.5684, + "euclidean_distance": 10.52003, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.32978, + 0.08441, + 6.10531 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3TYCR1GOTEMJKF1FMZVWI9GAA24LZ5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.75704, + -2.51559, + 13.45608 + ], + "start_rotation": [ + 0, + 0.70672, + 0, + 0.70749 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 5.71416, + "euclidean_distance": 5.00009, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.78866, + -2.91559, + 8.74614 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "3107120d425e424dacedb73bf44e9094", + "8c973e0dd63e490db73c44ff6959854b", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:36U2A8VAG328VJ9S5DHCP2UTI73YKX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.45531, + 0.08441, + 14.27861 + ], + "start_rotation": [ + 0, + 0.68425, + 0, + 0.72925 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 26.76333, + "euclidean_distance": 10.57739, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.45725, + 0.08441, + 7.40446 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "6c58b3d5819e4ca8b896f81230477c7e", + "path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0" + ], + "refined_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3RANCT1ZVHKQL7LTPZ7UNE5PI7PBUF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.3259, + -2.51559, + 14.01223 + ], + "start_rotation": [ + 0, + 0.9999, + 0, + 0.01439 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.6607, + "euclidean_distance": 3.29869, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.31787, + -2.91559, + 15.48032 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LO69W1SU5GJTY6AW777X204ZM1GLM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.14062, + 3.64775, + 7.58776 + ], + "start_rotation": [ + 0, + 0.94629, + 0, + -0.32333 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.52127, + "euclidean_distance": 8.81529, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.44637, + 0.78885, + -0.35439 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:30ZX6P7VFAYNJEA3U7A5FJTB8XTJ2V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.1832, + 3.68441, + 12.11988 + ], + "start_rotation": [ + 0, + 0.67572, + 0, + 0.73716 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 27.29869, + "euclidean_distance": 5.28486, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.04395, + 0.08441, + 10.15804 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:39GAF6DQWT3PLOS1SSOADOU0OVJ1VP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.51658, + 0.08441, + 14.1797 + ], + "start_rotation": [ + 0, + 0.70633, + 0, + -0.70789 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.72071, + "euclidean_distance": 14.58306, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.06983, + 0.68441, + -0.15213 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3GGAI1SQEX1QI48QUXC37OUE1UNCMO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.14535, + 0.14395, + 4.26968 + ], + "start_rotation": [ + 0, + 0.51204, + 0, + -0.85896 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 17.33289, + "euclidean_distance": 5.07946, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49936, + 3.4864, + 5.73627 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3FIJLY1B6W736JPDDFUWWY9C6C7PFS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.66818, + -2.91559, + 12.35481 + ], + "start_rotation": [ + 0, + 0.55003, + 0, + 0.83515 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.18666, + "euclidean_distance": 1.66296, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77353, + -2.91559, + 13.40944 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3CP1TO84PV4FCFVI556BE9A661O258", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.71999, + -2.31559, + -3.03987 + ], + "start_rotation": [ + 0, + 0.85154, + 0, + -0.5243 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.4425, + "euclidean_distance": 14.95767, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.00371, + -2.91559, + 11.8729 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:35GMH2SV3GKTF5DG34XBPGJMHCZEOU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.05318, + -2.91559, + 6.60805 + ], + "start_rotation": [ + 0, + 0.98118, + 0, + -0.19308 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.51565, + "euclidean_distance": 8.60098, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.56304, + -2.31559, + -0.10777 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3I02618YA29SP1M384PVIYAFDZ7UPE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.07449, + -2.51559, + 13.71659 + ], + "start_rotation": [ + 0, + 0.55543, + 0, + 0.83156 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 6.305, + "euclidean_distance": 3.23261, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.30149, + -2.91559, + 15.4438 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3VSOLARPKDCNYKTDCVXX9ZK0VOU93R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.65672, + 3.67004, + 7.73817 + ], + "start_rotation": [ + 0, + 0.96867, + 0, + 0.24833 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.31573, + "euclidean_distance": 8.83223, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.56852, + 0.81319, + -0.32428 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3ATPCQ38JAD2J606TM4NVORXDVBYAK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.17454, + 0.08441, + 3.87925 + ], + "start_rotation": [ + 0, + 0.49496, + 0, + 0.86892 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.85316, + "euclidean_distance": 11.63119, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.36673, + 3.48441, + 14.08345 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_234_newN_0", + "path": [ + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "a6ce5d580416478b847a83a2c537a637", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3W8CV64QJ422SS0CRGMZDTLA18J9HM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.5897, + 0.08441, + 4.10625 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + -0.00926 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.39941, + "euclidean_distance": 3.06845, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.80437, + 0.08441, + 7.14584 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_234_newN_0", + "path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ON104KXQMZJSCPP5KC8XOKHAHXW4Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.0926, + 0.68441, + -0.75147 + ], + "start_rotation": [ + 0, + 0.15091, + 0, + 0.98855 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 9.92763, + "euclidean_distance": 6.74472, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.631, + 3.48441, + 5.53576 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:39L1G8WVWSU59FQI8II4UT2HX6Q13I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.56452, + 0.08441, + 8.33301 + ], + "start_rotation": [ + 0, + 0.98113, + 0, + -0.19336 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 22.16824, + "euclidean_distance": 4.60576, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69522, + 3.48441, + 5.49023 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + [ + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3JC6VJ2SADM4HIQMIKZQKRT4F295AY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.59335, + 0.68441, + -2.96293 + ], + "start_rotation": [ + 0, + 0.75998, + 0, + -0.64995 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 15.13682, + "euclidean_distance": 13.08242, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05322, + 0.08441, + 10.18174 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + [ + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39GAF6DQWT3PLOS1SSOADOU0OQMV1C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.36699, + -2.31559, + -0.47919 + ], + "start_rotation": [ + 0, + 0.82625, + 0, + -0.5633 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 7.04669, + "euclidean_distance": 6.2255, + "closest_goal_object_id": 415, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.48025, + -2.91559, + 5.22775 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A182N7RLXGSCZG:3OSWBBLG1G0BH8D8809N2BSTF69XDJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.63918, + -2.79647, + 9.77405 + ], + "start_rotation": [ + 0, + 0.37096, + 0, + 0.92865 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.34524, + "euclidean_distance": 4.23663, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.81142, + -2.91559, + 11.92819 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3TPZPLC3M2F8Q79KTKTUVPKF0RXP3L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.36085, + 3.58393, + 10.21212 + ], + "start_rotation": [ + 0, + 0.24318, + 0, + -0.96998 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.18731, + "euclidean_distance": 11.27207, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.34214, + 0.76629, + -0.37431 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3TU5ZICBRF4FRGG55E3FMBI0O2K8QL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.96305, + 3.48441, + 9.19701 + ], + "start_rotation": [ + 0, + 0.99418, + 0, + 0.10773 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.99546, + "euclidean_distance": 10.26227, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.87109, + 0.68441, + -0.65104 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KGTPGBS6ZOWXULX66EJML2M5NJ2U2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.83564, + -2.91559, + 13.34551 + ], + "start_rotation": [ + 0, + 0.04856, + 0, + -0.99882 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 14.28313, + "euclidean_distance": 13.44845, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.58468, + -2.31559, + -0.08401 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3PXX5PX6LZ166Y7VJUQ3NDTWSL7ABT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.92506, + -2.31559, + -2.37581 + ], + "start_rotation": [ + 0, + 0.17763, + 0, + 0.9841 + ], + "object_category": "table", + "info": { + "geodesic_distance": 15.46218, + "euclidean_distance": 14.38678, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.86525, + -2.91559, + 11.87237 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3PDJHANYK7JFA9YET9JNTJU8O616H9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.18641, + 0.68441, + -2.58899 + ], + "start_rotation": [ + 0, + 0.54064, + 0, + -0.84125 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 12.00726, + "euclidean_distance": 9.26322, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.57907, + 3.48925, + 6.06932 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3FPRZHYEP0ALVR6GFW2T1H9W6G4V32", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.05067, + -2.31559, + -3.29981 + ], + "start_rotation": [ + 0, + 0.80471, + 0, + 0.59366 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 5.74868, + "euclidean_distance": 4.5819, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.9228, + -2.31559, + 0.09927 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33LK57MYLV86OSW568SXUVU55UKZS4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.7201, + 0.08441, + 16.28196 + ], + "start_rotation": [ + 0, + 0.37923, + 0, + -0.9253 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 27.36477, + "euclidean_distance": 10.81475, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.5474, + 3.48441, + 6.00202 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2CWA5VQZ6IWMQ:32RIADZISU7QLV8GLF270ZHW115S4A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.74211, + 0.08441, + 8.28232 + ], + "start_rotation": [ + 0, + 0.04318, + 0, + -0.99907 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.51513, + "euclidean_distance": 6.62314, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.11513, + 0.08441, + 14.33047 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3L4D84MIL1VRY4DLDSDC2NZDATEHJH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.21633, + 3.48441, + 15.97349 + ], + "start_rotation": [ + 0, + 0.8353, + 0, + -0.54979 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.71821, + "euclidean_distance": 16.52622, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.34746, + 0.68441, + -0.30656 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:3KOPY89HMA5C4W6MY7OAYTY3ULP3JM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.03193, + 0.68441, + -0.06291 + ], + "start_rotation": [ + 0, + 0.81237, + 0, + -0.58315 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.83749, + "euclidean_distance": 10.24199, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.12659, + 0.08441, + 10.15473 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_131_newN_1", + "path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:32UTUBMZ7IZQYMATUPHZJ0799LYBVX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.26357, + 0.08441, + 13.70548 + ], + "start_rotation": [ + 0, + 0.17452, + 0, + 0.98465 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.82195, + "euclidean_distance": 8.38903, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.46499, + 3.49971, + 6.13155 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3GNA64GUZG7W4YX37GWCAR89M8CQ5M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.05972, + -2.31559, + 2.21223 + ], + "start_rotation": [ + 0, + 0.09698, + 0, + 0.99529 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.43654, + "euclidean_distance": 4.89035, + "closest_goal_object_id": 486, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.49827, + -2.31559, + -1.06097 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3WYGZ5XF3YIBZXXJ67PN7G6S1MXKSV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.18763, + -2.91559, + 12.84729 + ], + "start_rotation": [ + 0, + 0.99098, + 0, + 0.13403 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.15024, + "euclidean_distance": 5.9568, + "closest_goal_object_id": 331, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.84893, + -2.91559, + 16.08111 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3Z2R0DQ0JJHF8YOBG6ZEI3GJG0IE2P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.43102, + 0.68441, + -2.52455 + ], + "start_rotation": [ + 0, + 0.87388, + 0, + 0.48613 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.70323, + "euclidean_distance": 17.69373, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01344, + 3.48441, + 14.80382 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3U5NZHP4LT5NKFGJ85IWZJLPMOBHP3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.91852, + 3.56955, + 7.66918 + ], + "start_rotation": [ + 0, + 0.81577, + 0, + 0.57838 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.93901, + "euclidean_distance": 8.53555, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52413, + 0.68441, + -0.24708 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:34YB12FSQ0R3ZGOVWJ8MXFFTY57GMV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.85047, + 0.68441, + -0.62894 + ], + "start_rotation": [ + 0, + 0.78092, + 0, + 0.62463 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.25877, + "euclidean_distance": 7.0186, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.36038, + 3.48441, + 5.89227 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3IOEN3P9S9M46YD0RKG21WE1AUY16R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.09824, + 0.68441, + 0.4771 + ], + "start_rotation": [ + 0, + 0.41408, + 0, + 0.91024 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.80692, + "euclidean_distance": 15.12279, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00254, + 3.48441, + 14.6351 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:38F71OA9GVZXLGS0LZ24FUFGKESFMD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.61557, + 0.08441, + 13.62294 + ], + "start_rotation": [ + 0, + 0.99481, + 0, + 0.10171 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 25.97948, + "euclidean_distance": 10.25464, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.54733, + 3.49691, + 6.13475 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "7a663a2787474bc2b09a4e8b21325141", + "path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3FIUS151DX5376S9LGARKAVW6XUGGI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.55125, + 0.68441, + -2.80629 + ], + "start_rotation": [ + 0, + 0.97257, + 0, + -0.23262 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 21.4514, + "euclidean_distance": 18.14906, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01237, + 3.48441, + 14.84672 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A16184N1RO5OJV:32VNZTT0A97EKG836Q22APC0F9K4RG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.01424, + 0.11479, + 6.04977 + ], + "start_rotation": [ + 0, + 0.50503, + 0, + -0.8631 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 15.36573, + "euclidean_distance": 7.58274, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.33267, + 3.48441, + 3.34815 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + [ + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3A9AA95ATYPB4MWO73HNAMIZ13Z5PL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.46911, + 3.48441, + 14.20083 + ], + "start_rotation": [ + 0, + 0.93509, + 0, + -0.3544 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 16.49661, + "euclidean_distance": 15.29842, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.41357, + 0.78142, + -0.36812 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KWTYT08726LD1HQFBOGT59EVQ15LH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.67141, + 0.08441, + 6.01159 + ], + "start_rotation": [ + 0, + 0.99875, + 0, + 0.04997 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 23.26252, + "euclidean_distance": 6.92747, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71999, + 3.48441, + 5.51801 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:33LK57MYLV86OSW568SXUVU5PL5SZK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.95354, + -2.91559, + 13.52212 + ], + "start_rotation": [ + 0, + 0.45221, + 0, + -0.89191 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.57432, + "euclidean_distance": 17.10446, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.31705, + -2.31559, + -3.46097 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3NVC2EB65S22ZL1LK7PD8GDQQZNY31", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.26375, + 0.08441, + 16.36395 + ], + "start_rotation": [ + 0, + 0.72331, + 0, + -0.69052 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 28.46695, + "euclidean_distance": 10.74428, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.45382, + 0.08441, + 7.34039 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3OCHAWUVGQNJVEJI0HVA6ONK0SBKXH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.45037, + 0.08441, + 10.8921 + ], + "start_rotation": [ + 0, + 0.78997, + 0, + 0.61315 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.78745, + "euclidean_distance": 3.01418, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.70586, + 0.08441, + 7.89564 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3PW9OPU9PSNGOXUZ4I4ZBJXPRSM214", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.93507, + 3.48441, + 9.49552 + ], + "start_rotation": [ + 0, + 0.4292, + 0, + -0.90321 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 4.35553, + "euclidean_distance": 3.73459, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.03737, + 3.49817, + 5.85509 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37UEWGM5HVBXSHBKJ8J0CR5WP18R1W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.49168, + 2.31268, + 1.9205 + ], + "start_rotation": [ + 0, + 0.74317, + 0, + -0.6691 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.48889, + "euclidean_distance": 4.35236, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.54134, + 3.48488, + 5.71281 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "3b2ba223f6a445a6bf4561f1853e83c1", + "path": [ + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A12H9WVHOB0E0O:3WOKGM4L73JUOFYMVXYW4RHIQ2G0O6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.5472, + 3.48441, + 6.25581 + ], + "start_rotation": [ + 0, + 0.33472, + 0, + -0.94232 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.93191, + "euclidean_distance": 7.36801, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.35136, + 0.68441, + -0.38321 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A16K7X677N4WN6:369J354OFFD1AD3393158JI7CLBG64", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.07484, + -2.91559, + 9.8427 + ], + "start_rotation": [ + 0, + 0.98267, + 0, + 0.18535 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 11.7791, + "euclidean_distance": 10.04555, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.6366, + -2.31559, + -0.07492 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:30ZX6P7VFAYNJEA3U7A5FJTBO2LJ2D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.25093, + -2.91559, + 6.8278 + ], + "start_rotation": [ + 0, + 0.65251, + 0, + -0.75778 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.2155, + "euclidean_distance": 5.7063, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.77497, + -2.91559, + 11.90592 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_208_newN_0", + "path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "d962509cdba64e6ca76a6228582eb901", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EICBYG646Z0HW25R0ZBRW2WHYPJC2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.6934, + 0.08441, + 6.99148 + ], + "start_rotation": [ + 0, + 0.78162, + 0, + -0.62375 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 21.83165, + "euclidean_distance": 3.90838, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69588, + 3.48441, + 5.45648 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "a6ce5d580416478b847a83a2c537a637", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3XCC1ODXDNEL9LV14N9FDSD4VQMRQ1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.31961, + 0.08441, + 8.83217 + ], + "start_rotation": [ + 0, + 0.32919, + 0, + 0.94427 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.99129, + "euclidean_distance": 6.54372, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.42946, + 3.48441, + 14.01978 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_190_newN_0", + "path": [ + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3W92K5RLWWKO96TKTFQMGE7HNUAV5C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.87536, + -2.91559, + 12.25818 + ], + "start_rotation": [ + 0, + 0.86996, + 0, + 0.49312 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 13.81812, + "euclidean_distance": 12.34486, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.84578, + -2.31559, + 0.22278 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3RANCT1ZVHKQL7LTPZ7UNE5QVERUBT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.08802, + -2.91559, + 10.21424 + ], + "start_rotation": [ + 0, + 0.97033, + 0, + 0.24178 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.58889, + "euclidean_distance": 3.0459, + "closest_goal_object_id": 372, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.13791, + -2.91559, + 9.62677 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:379J5II41QJL9KAJQCHJXZFS9P7LEK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.03389, + -2.91559, + 8.91818 + ], + "start_rotation": [ + 0, + 0.55835, + 0, + 0.8296 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.59214, + "euclidean_distance": 3.52908, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.70091, + -2.91559, + 11.67324 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2" + ], + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3LEP4MGT3I3445A734H5DE11W0WDBV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.93244, + 0.08441, + 9.96683 + ], + "start_rotation": [ + 0, + 0.78492, + 0, + -0.61959 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 26.02497, + "euclidean_distance": 6.97203, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.48578, + 3.48441, + 5.85225 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3OONKJ5DKEMV821WTDVLO8D11YDOBK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.54625, + -2.91559, + 8.92582 + ], + "start_rotation": [ + 0, + 0.27562, + 0, + 0.96127 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.13913, + "euclidean_distance": 2.85195, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.76605, + -2.91559, + 11.69935 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FIUS151DX5376S9LGARKAVVPCPGGO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.29761, + 3.48441, + 4.29922 + ], + "start_rotation": [ + 0, + 0.13378, + 0, + -0.99101 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 11.07771, + "euclidean_distance": 10.40304, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.40819, + 3.48441, + 14.03144 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ] + }, + { + "episode_id": "A39E9936894TJR:3Y5140Z9DZJNGAR3EN0HZVM4JAKIP6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.18372, + -2.31559, + -0.58306 + ], + "start_rotation": [ + 0, + 0.99453, + 0, + -0.10448 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.02413, + "euclidean_distance": 2.87756, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77851, + -2.31559, + -3.4673 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "a55a46bc13e743ca8626a97ac056b8f3", + "path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:30OG32W0SWEBXKD42PXYARJHR29NE3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.70136, + -2.91559, + 12.48871 + ], + "start_rotation": [ + 0, + 0.99977, + 0, + 0.02122 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.70856, + "euclidean_distance": 5.45076, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69301, + -2.91559, + 13.3343 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3WRFBPLXRCR8NMX7D5G2R0FK07O3NL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.28536, + -2.91559, + 12.9909 + ], + "start_rotation": [ + 0, + 0.59524, + 0, + -0.80355 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.87868, + "euclidean_distance": 3.81887, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.95351, + -2.91559, + 14.76358 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3Z9WI9EOZ1RM9OJ3VDDO32ZP9FOHK2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.72778, + 0.08441, + 6.66726 + ], + "start_rotation": [ + 0, + 0.86516, + 0, + -0.5015 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.8347, + "euclidean_distance": 11.02277, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01627, + 3.48441, + 14.69273 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3JAOYWH7VK74EOJ2I11X5LEHISU9L1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.05129, + -2.91559, + 9.20473 + ], + "start_rotation": [ + 0, + 0.46087, + 0, + 0.88747 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 3.62826, + "euclidean_distance": 2.76127, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.77411, + -2.91559, + 11.66088 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:33NF62TLXL5I0UETJDG9FFF4M87KJR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.99639, + 0.08441, + 14.35892 + ], + "start_rotation": [ + 0, + 0.99842, + 0, + 0.05614 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 28.04027, + "euclidean_distance": 9.89931, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76257, + 3.48441, + 5.40854 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "03a8325e3b054e3fad7e1e7091f9d283", + "path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:35LDD5557C7812KEMAT1V77M91LKMX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.31737, + 0.08441, + 13.39916 + ], + "start_rotation": [ + 0, + 0.83872, + 0, + -0.54456 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.3512, + "euclidean_distance": 13.58434, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.15621, + 0.68441, + -0.118 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3R8YZBNQ9JLBR2BMV9B98BM4T2T7QU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.53407, + -2.31559, + -0.41119 + ], + "start_rotation": [ + 0, + 0.34712, + 0, + 0.93782 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.76852, + "euclidean_distance": 2.31135, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.94386, + -2.31559, + -2.37015 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_196_newN_0", + "path": [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3BDCF01OGZXJFPRAQDTD4277OJ6YL1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.56205, + -2.91559, + 11.35503 + ], + "start_rotation": [ + 0, + 0.52582, + 0, + 0.8506 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.44794, + "euclidean_distance": 2.98587, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74717, + -2.91559, + 13.38494 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "9a10d725e7334967a8ca89b2a61c446e", + "path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3N1FSUEFL73KJ6PYOP7I50VVMAQ4DV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.79514, + 0.08441, + 9.99975 + ], + "start_rotation": [ + 0, + 0.52592, + 0, + -0.85054 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.85131, + "euclidean_distance": 5.65413, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.57392, + 3.496, + 6.13564 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:31QNSG6A5TW5LYBQ9FU9MK15JB7870", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.58303, + 0.08441, + 15.37058 + ], + "start_rotation": [ + 0, + 0.94141, + 0, + -0.33727 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.40154, + "euclidean_distance": 11.12009, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.46047, + 3.48658, + 5.74445 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OCHAWUVGQNJVEJI0HVA6ONK0SVXKE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.97393, + -2.31559, + -3.61255 + ], + "start_rotation": [ + 0, + 0.02875, + 0, + 0.99959 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.26219, + "euclidean_distance": 4.02116, + "closest_goal_object_id": 466, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.97657, + -2.31559, + 0.37914 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "A1J3ON3YLGJAM6:3V5Q80FXIZUCY08ERMIIZCCMSBP32N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.17074, + 3.53153, + 6.34101 + ], + "start_rotation": [ + 0, + 0.74827, + 0, + -0.66339 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.32256, + "euclidean_distance": 2.16636, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.22248, + 3.48441, + 4.3703 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3FFJ6VRIL3RKSTNJX2LRKULWEQG0I4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.83821, + -2.91559, + 15.35565 + ], + "start_rotation": [ + 0, + 0.96605, + 0, + -0.25836 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 6.12441, + "euclidean_distance": 4.39584, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.31555, + -2.91559, + 15.58636 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b" + ], + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:31QTRG6Q2VG96A68I5MKLJGRTGNPYG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.61367, + -2.52216, + 3.16068 + ], + "start_rotation": [ + 0, + 0.21268, + 0, + 0.97712 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.03763, + "euclidean_distance": 3.7635, + "closest_goal_object_id": 383, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.71643, + -2.91559, + 6.06533 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b" + ] + }, + { + "episode_id": "A5WWHKD82I8UE:39LNWE0K4WZ08FZZV9ZB9193UJDIUQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.32986, + -2.91559, + 12.3604 + ], + "start_rotation": [ + 0, + 0.99791, + 0, + -0.0646 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.89569, + "euclidean_distance": 3.75016, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.47071, + -2.91559, + 16.05894 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3FTOP5WARHRGN47PFK6RWV0V8G5J00", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.68681, + 0.08441, + 15.55271 + ], + "start_rotation": [ + 0, + 0.73605, + 0, + -0.67693 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 10.60297, + "euclidean_distance": 5.67768, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.0802, + 0.08441, + 10.10933 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:324G5B4FB5BN396NEBHUT5VN0BI70V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.2351, + 3.48441, + 16.18386 + ], + "start_rotation": [ + 0, + 0.7046, + 0, + 0.70961 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.76481, + "euclidean_distance": 7.33915, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.48618, + 3.54232, + 9.92762 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:3LKC68YZ3C6NW5Z7O4RHBMQMR8KOWN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.27225, + 0.08441, + 12.91505 + ], + "start_rotation": [ + 0, + 0.96928, + 0, + -0.24597 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 14.91414, + "euclidean_distance": 13.09978, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.03722, + 0.68441, + -0.17504 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_190_newN_0", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:3TR2532VIRXB1FT4H9M85WAN1FN6JU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.26528, + 0.08441, + 13.14347 + ], + "start_rotation": [ + 0, + 0.30478, + 0, + 0.95242 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.46048, + "euclidean_distance": 8.54765, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.73822, + 3.48441, + 5.37116 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "a6ce5d580416478b847a83a2c537a637", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3OS46CRSLH2KSATYYY0R8KLGI9P6V8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.63045, + -2.91559, + 10.15558 + ], + "start_rotation": [ + 0, + 0.58466, + 0, + -0.81128 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.72206, + "euclidean_distance": 1.83031, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.9594, + -2.91559, + 11.97264 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_208_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3J2UYBXQQNF4Z9SIV1C2NRVQMXQ06Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.35652, + 0.08441, + 6.49176 + ], + "start_rotation": [ + 0, + 0.09738, + 0, + -0.99525 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.11936, + "euclidean_distance": 10.53111, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.80383, + 0.08441, + 14.85651 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:33CKWXB73LN9ZCC3LE4L60NKY5V11A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.49594, + 0.08441, + 13.08691 + ], + "start_rotation": [ + 0, + 0.16844, + 0, + 0.98571 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 28.0191, + "euclidean_distance": 8.28796, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.56875, + 3.49106, + 5.82669 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "80f652ffcdfa47ada388a00233624799", + "path": [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "refined_path": [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3GGAI1SQEX1QI48QUXC37OUDNYZMC2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.90351, + 0.68441, + -1.30693 + ], + "start_rotation": [ + 0, + 0.13113, + 0, + -0.99137 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.50369, + "euclidean_distance": 7.64686, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.5152, + 3.48441, + 5.9208 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3MRNMEIQW79GHEWJUH6ZRHX7L8IDLX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.33153, + 0.68441, + 0.29211 + ], + "start_rotation": [ + 0, + 0.966, + 0, + 0.25856 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.84746, + "euclidean_distance": 6.54528, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45691, + 3.48441, + 5.89294 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "4cac488dae6a442289ce32fd0b6a42fe", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:31UV0MXWNSFJN09KU8R31PHNSZ7I5M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.86375, + 0.08441, + 14.04602 + ], + "start_rotation": [ + 0, + 0.94576, + 0, + -0.32486 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 13.37612, + "euclidean_distance": 1.74741, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00723, + 0.08441, + 14.26422 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ] + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3SB4CE2TJXYDJ1AWOQILCAKO8O7AXB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.6088, + -2.91559, + 9.72516 + ], + "start_rotation": [ + 0, + 0.52351, + 0, + -0.85202 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.35644, + "euclidean_distance": 2.69913, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.92455, + -2.91559, + 11.86954 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3BEFOD78W8WNN0VB1I6LOQIQCB0M46", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.82319, + 0.08441, + 15.63594 + ], + "start_rotation": [ + 0, + 0.98974, + 0, + 0.14288 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 17.34638, + "euclidean_distance": 5.67624, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.81531, + 0.08441, + 15.07254 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3KOPY89HMA5C4W6MY7OAYTY3ROA3JA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.98099, + -2.91559, + 15.47482 + ], + "start_rotation": [ + 0, + 0.32076, + 0, + 0.94716 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 23.22091, + "euclidean_distance": 19.20493, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.21643, + -2.31559, + -3.41541 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:36V4Q8R5ZM3UC5I9ZFDYRTJV53CQMJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.93537, + -2.31559, + -3.68677 + ], + "start_rotation": [ + 0, + 0.12051, + 0, + 0.99271 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.77805, + "euclidean_distance": 12.55297, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.74496, + -2.91559, + 8.72254 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3HPZF4IVNOWQCLX4D00E1JHLAAIYCT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.08655, + 0.68441, + 0.42575 + ], + "start_rotation": [ + 0, + 0.07498, + 0, + -0.99719 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.86209, + "euclidean_distance": 4.72211, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.2295, + 3.48441, + 3.4878 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + [ + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3TXWC2NHN1TRI1ES2AYYH7SCN4T9SJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.95413, + -2.91559, + 14.85533 + ], + "start_rotation": [ + 0, + 0.79675, + 0, + 0.60431 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.39916, + "euclidean_distance": 15.18795, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.64248, + -2.31559, + -0.1675 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "4b77e304d83943999198c3cd4457512c", + "path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3TPZPLC3M2F8Q79KTKTUVPKFNAKP3X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.00503, + 3.60497, + 10.76777 + ], + "start_rotation": [ + 0, + 0.26923, + 0, + 0.96308 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.98217, + "euclidean_distance": 4.75166, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05661, + 0.08441, + 10.03553 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3H7Z272LX9AP6BZ9ZQXURBEW34PLPH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.77943, + 0.08441, + 12.24048 + ], + "start_rotation": [ + 0, + 0.16824, + 0, + -0.98575 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.17546, + "euclidean_distance": 15.40938, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.28594, + 0.68441, + -2.85693 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "b72841257cae4f829f8a68c30175ff07", + "path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3K2755HG5U6UHMMN8631W4SNSMWFDI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.14839, + 0.08941, + 5.59358 + ], + "start_rotation": [ + 0, + 0.80799, + 0, + 0.58919 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 17.69828, + "euclidean_distance": 5.87426, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.46, + 0.08441, + 7.29034 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "0_edge_164_newN_1", + [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3D3VGR7TA2IT2KPZ6CXJ0KKUOSFR3Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.03897, + -2.91559, + 6.33181 + ], + "start_rotation": [ + 0, + 0.97075, + 0, + 0.2401 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.08423, + "euclidean_distance": 10.88246, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71429, + -2.31559, + -3.42236 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "15791b161c944d269ae3727bf19fc1a6", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2J6S7QR4CGXTW:32SVAV9L3HC1333I41BX5UVK4W13A8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.8977, + -2.51559, + 13.9664 + ], + "start_rotation": [ + 0, + 0.51499, + 0, + -0.8572 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.49938, + "euclidean_distance": 4.362, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.3261, + -2.91559, + 14.81416 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3AMW0RGHOF5FUB2UB3D943IL8WTPNL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.28673, + 0.68441, + -0.51815 + ], + "start_rotation": [ + 0, + 0.92299, + 0, + -0.38482 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.70414, + "euclidean_distance": 7.25359, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.49182, + 3.48441, + 5.91065 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3L2IS5HSFCLSMGAQSPC3E95JZSXUN9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.89882, + 0.08441, + 9.67297 + ], + "start_rotation": [ + 0, + 0.47007, + 0, + -0.88263 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 22.67773, + "euclidean_distance": 7.75435, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.41165, + 0.08441, + 7.28518 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "2b4fc2765e164775bb82e0aaf1d0d65d", + "path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "80f652ffcdfa47ada388a00233624799", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad" + ], + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3GMRPF5MCQVGV:32M8BPYGAVPH3XY4B4AU5M8B4UIGIR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.13931, + 3.48441, + 9.14347 + ], + "start_rotation": [ + 0, + 0.981, + 0, + 0.19398 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.37674, + "euclidean_distance": 5.74156, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00107, + 3.48441, + 14.64786 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_186_newN_0", + "0_edge_190_newN_0", + "a6ce5d580416478b847a83a2c537a637", + "45af9f44b1d041159dd1ded3c28e8457" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:340UGXU9D045ULJZUGYUOQZXM82VUN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.6755, + 0.08441, + 8.74962 + ], + "start_rotation": [ + 0, + 0.7173, + 0, + 0.69677 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 12.98798, + "euclidean_distance": 9.08848, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.14351, + 0.68441, + -0.17676 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3C5W7UE9CHTEL2JLLT8QL1FO2IDMXE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.39964, + -2.31559, + 0.28551 + ], + "start_rotation": [ + 0, + 0.27517, + 0, + -0.9614 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 4.80055, + "euclidean_distance": 4.29058, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.76471, + -2.31559, + -3.48471 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3C6FJU71TSWMYFE4ZRLEVP3RKXDUY0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.3595, + -2.31559, + 1.89517 + ], + "start_rotation": [ + 0, + 0.8241, + 0, + 0.56644 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 5.31571, + "euclidean_distance": 4.21568, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.74732, + -2.31559, + -2.37824 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3TMFV4NEPAHKBDCRHN2LE00LTYQ8WJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.22487, + 0.68441, + -0.09383 + ], + "start_rotation": [ + 0, + 0.71643, + 0, + 0.69766 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.3924, + "euclidean_distance": 2.22298, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.0959, + 0.68441, + -2.19123 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_131_newN_1", + "path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VNL7UK1XHM1YBIKUW3G18A9SLZTFH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.19139, + 0.25653, + 3.64847 + ], + "start_rotation": [ + 0, + 0.73438, + 0, + -0.67874 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.35372, + "euclidean_distance": 6.51657, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.12493, + 0.08441, + 10.15704 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3X0H8UUIT3R2UXR0VL8QVR0M7G5SWP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.81516, + 0.08441, + 12.71262 + ], + "start_rotation": [ + 0, + 0.94144, + 0, + 0.33719 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 20.6479, + "euclidean_distance": 15.87946, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.20589, + 0.68441, + -2.91306 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "0_edge_113_newN_1", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8" + ], + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3T3IWE1XG8QYP08T8CEAD7EMJGKQTO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.76631, + 0.68441, + -2.91119 + ], + "start_rotation": [ + 0, + 0.26665, + 0, + 0.96379 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.68977, + "euclidean_distance": 3.27557, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.46412, + 0.68441, + -0.42413 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:38BQUHLA9Y3RRT5TK2LU2OOVPR6MOW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.1971, + 0.08441, + 14.95224 + ], + "start_rotation": [ + 0, + 0.65947, + 0, + 0.75173 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 29.90297, + "euclidean_distance": 9.91262, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.55037, + 3.48744, + 5.80709 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0_edge_164_newN_0", + "path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3VNL7UK1XHM1YBIKUW3G18A8EXWTFM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.64151, + 0.08441, + 8.97332 + ], + "start_rotation": [ + 0, + 0.21036, + 0, + -0.97762 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 23.31183, + "euclidean_distance": 5.34021, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.63938, + 3.48441, + 5.45749 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c" + ], + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:31JLPPHS2WXQ57XJEKGF6PFPQH33OA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.92133, + -2.91559, + 13.95483 + ], + "start_rotation": [ + 0, + 0.59991, + 0, + -0.80007 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.85243, + "euclidean_distance": 3.13804, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.04083, + -2.91559, + 14.74821 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3HHRAGRYXA8CK9MZVTHPX2IACET9O7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.04357, + -2.31559, + -2.0431 + ], + "start_rotation": [ + 0, + 0.98158, + 0, + -0.19107 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 16.19336, + "euclidean_distance": 13.23956, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.22086, + -2.8342, + 9.95304 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3DZQRBDBSNI53ZPCL1XOQUPQN0N3SC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.8925, + 0.08441, + 15.36292 + ], + "start_rotation": [ + 0, + 0.87948, + 0, + 0.47594 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 14.69329, + "euclidean_distance": 2.00436, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.15436, + 0.08441, + 14.41872 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3QY7M81QH9PPGZDRI4RCCPAWY3PK7N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.85873, + -2.31559, + -3.22824 + ], + "start_rotation": [ + 0, + 0.42431, + 0, + 0.90552 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.47125, + "euclidean_distance": 4.67342, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.82643, + -2.31559, + -3.46387 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3JC6VJ2SADM4HIQMIKZQKRT4IQ85AC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.93794, + 0.08441, + 2.033 + ], + "start_rotation": [ + 0, + 0.75506, + 0, + 0.65566 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 15.12248, + "euclidean_distance": 14.20756, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.89107, + 0.08441, + 15.05923 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:33LKR6A5KGNA8WOCNXOVC66EBZTT1N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.54129, + 0.68441, + -0.67457 + ], + "start_rotation": [ + 0, + 0.70332, + 0, + 0.71087 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.20831, + "euclidean_distance": 6.94401, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61758, + 3.48441, + 5.35141 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0_edge_113_newN_0", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:3EQHHY4HQUV5R93P4KR0GD46XLCG55", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.89769, + 0.08441, + 7.20839 + ], + "start_rotation": [ + 0, + 0.53577, + 0, + -0.84436 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 28.2985, + "euclidean_distance": 10.13333, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.95324, + 3.48441, + 14.75533 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:30LB5CDZNED6NJCTX69DKPOMA3C0ZV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.36252, + 3.48441, + 3.78203 + ], + "start_rotation": [ + 0, + 0.21452, + 0, + -0.97672 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.17726, + "euclidean_distance": 2.5931, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.26498, + 3.49229, + 5.83832 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3AMW0RGHOF5FUB2UB3D943IL55QPNX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.6467, + -2.91559, + 14.68565 + ], + "start_rotation": [ + 0, + 0.99819, + 0, + -0.06015 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.87157, + "euclidean_distance": 18.07258, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.27575, + -2.31559, + -3.45958 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3QHK8ZVMIOLN2HYZGLFTWR97M15BLJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.71007, + 3.55771, + 10.43329 + ], + "start_rotation": [ + 0, + 0.36371, + 0, + -0.93151 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.74039, + "euclidean_distance": 11.11388, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.54091, + 0.68441, + -0.29609 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3H7Z272LX9AP6BZ9ZQXURBEWZR2PL4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.4446, + 0.67065, + 2.48175 + ], + "start_rotation": [ + 0, + 0.96262, + 0, + -0.27085 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.48206, + "euclidean_distance": 4.76438, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.51447, + 3.48441, + 5.88255 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3VE8AYVF8O0I0RQWRYSLACEME9C8F7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.72764, + -2.91559, + 15.94337 + ], + "start_rotation": [ + 0, + 0.318, + 0, + -0.94809 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.94694, + "euclidean_distance": 4.12652, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.12108, + -2.91559, + 12.07809 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ZR9AIQJUDCQKMO4CDJNQTBCSVC04D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.42834, + -2.91559, + 12.48605 + ], + "start_rotation": [ + 0, + 0.43726, + 0, + -0.89933 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 5.27185, + "euclidean_distance": 4.26276, + "closest_goal_object_id": 315, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.36453, + -2.91559, + 15.4299 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3F6KKYWMND465EZ46UME491WREZDN3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.37933, + -2.91559, + 12.52357 + ], + "start_rotation": [ + 0, + 0.66644, + 0, + 0.74556 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.3328, + "euclidean_distance": 4.2304, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.39837, + -2.91559, + 15.45748 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3WEV0KO0OOV3LRR9EQ3033B2E35SD8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.50847, + 0.08441, + 6.53498 + ], + "start_rotation": [ + 0, + 0.17749, + 0, + -0.98412 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 18.6845, + "euclidean_distance": 3.44168, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.4951, + 3.4954, + 6.09944 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "1e649cc84c9043b69e2367b7d5aeecf2", + "path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:354P56DE9M6N4IQZND0E3B16S1IS7D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.33607, + -2.31559, + 0.00284 + ], + "start_rotation": [ + 0, + 0.50834, + 0, + -0.86116 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.65774, + "euclidean_distance": 3.35305, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.14311, + -2.31559, + -2.36903 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "f0307e707d50446097021ce802f44a4e", + "path": [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PH3VY7DJN0ZV9DEQD2YRKXQBCQZW3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.42266, + 3.68441, + 11.03637 + ], + "start_rotation": [ + 0, + 0.54641, + 0, + -0.83752 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 24.34047, + "euclidean_distance": 6.36897, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25284, + 0.08441, + 6.12326 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3FTF2T8WLTLKPIV1MF8ZEWVXTVH9WI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.31928, + -2.47214, + 2.96248 + ], + "start_rotation": [ + 0, + 0.63485, + 0, + 0.77264 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.16298, + "euclidean_distance": 9.48508, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.8686, + -2.91559, + 11.87185 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3HUTX6F6VWQ1KP10AK2ANFAW49CO2N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.0931, + -2.91559, + 9.33127 + ], + "start_rotation": [ + 0, + 0.44071, + 0, + 0.89765 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.66294, + "euclidean_distance": 4.00965, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.81412, + -2.91559, + 11.75006 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:31EUONYN2X6AHGZ2YUMLPK773ITOV7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.69321, + 0.08441, + 10.19427 + ], + "start_rotation": [ + 0, + 0.62236, + 0, + -0.78273 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.17693, + "euclidean_distance": 8.40085, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52792, + 3.48952, + 5.76627 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3IGI0VL649NX9BQTW30UF3DVIK4NOF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.40107, + 3.48441, + 4.46282 + ], + "start_rotation": [ + 0, + 0.48821, + 0, + 0.87273 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.18042, + "euclidean_distance": 6.77652, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.26036, + 0.08441, + 6.0602 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1" + ], + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3F1567XTNY8F5LZFA69TM7DB54G9QE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.14462, + -2.91559, + 9.18077 + ], + "start_rotation": [ + 0, + 0.29556, + 0, + -0.95532 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.71382, + "euclidean_distance": 7.38472, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.389, + -2.91559, + 15.64686 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NL0RFNU0HQSXCV8G6T59DQMN50K4S", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.40596, + 0.08441, + 8.87925 + ], + "start_rotation": [ + 0, + 0.99607, + 0, + -0.08855 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 4.99747, + "euclidean_distance": 4.75385, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.84539, + 0.08441, + 13.46179 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7" + ] + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3M68NM076JASZ3CHPEVH7NWDX8S6R5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.75574, + 0.93101, + 0.09644 + ], + "start_rotation": [ + 0, + 0.87531, + 0, + -0.48357 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.91934, + "euclidean_distance": 6.28814, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61537, + 3.48441, + 5.41638 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "a3fe827d49db4f7caa076c313434d418", + "path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3HHRAGRYXA8CK9MZVTHPX2IBT5C9OR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.88398, + 3.48441, + 4.7028 + ], + "start_rotation": [ + 0, + 0.62496, + 0, + -0.78065 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.58181, + "euclidean_distance": 2.45617, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.18987, + 3.48851, + 5.80844 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "425e120b2d7742b1a8f0902355908761", + "path": [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:37XITHEISYCHFKLIZ58KTNOOU5DRCH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.31915, + -2.31559, + -3.40336 + ], + "start_rotation": [ + 0, + 0.3417, + 0, + 0.93981 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.3251, + "euclidean_distance": 1.13106, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.72395, + -2.31559, + -3.25936 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3S96KQ6I9O740R4O3Q8QD87OGXMDT7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.71431, + 3.48441, + 3.91954 + ], + "start_rotation": [ + 0, + 0.68403, + 0, + 0.72946 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 3.13396, + "euclidean_distance": 2.74448, + "closest_goal_object_id": 84, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.21714, + 3.48917, + 5.81144 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ] + }, + { + "episode_id": "A272X64FOZFYLB:37TD41K0AJCTGZLVEU8PJXTJDC7CS6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.42384, + -2.91559, + 6.7482 + ], + "start_rotation": [ + 0, + 0.98884, + 0, + 0.14896 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.78627, + "euclidean_distance": 9.67964, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32897, + -2.91559, + 15.471 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:39DD6S19JRE5E9RN5D8S5EQQ432EZ9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.04472, + -2.31559, + -3.01976 + ], + "start_rotation": [ + 0, + 0.98128, + 0, + 0.19259 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.5918, + "euclidean_distance": 13.79732, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.36941, + -2.87516, + 10.09597 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "ADEMAGRRRGSPT:3XUHV3NRVM1JR5Y0OQ9I1DG7CGY5HS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.09853, + 0.08441, + 14.7558 + ], + "start_rotation": [ + 0, + 0.65076, + 0, + -0.75929 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 7.8901, + "euclidean_distance": 7.03264, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.43672, + 0.08441, + 7.79555 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JMSRU9HQKXO5PMD4GJPK8DTX5JVEI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.0777, + -2.91559, + 6.64517 + ], + "start_rotation": [ + 0, + 0.70626, + 0, + 0.70796 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.69463, + "euclidean_distance": 5.51579, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.75712, + -2.91559, + 11.62383 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WR9XG3T65E42XOOXC4W58L0HQZ74I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.52892, + 3.6246, + 7.81857 + ], + "start_rotation": [ + 0, + 0.83483, + 0, + -0.5505 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.57422, + "euclidean_distance": 9.56365, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.90032, + 0.68441, + -0.63156 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3GM6G9ZBKP074LA1GJ7TWYUISEBTMB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.51783, + 3.53973, + 6.32275 + ], + "start_rotation": [ + 0, + 0.7258, + 0, + 0.68791 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 8.25552, + "euclidean_distance": 7.47198, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.47347, + 0.79135, + -0.42467 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:32M8BPYGAVPH3XY4B4AU5M8CLAVIGL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.47405, + 0.08441, + 3.35372 + ], + "start_rotation": [ + 0, + 0.64296, + 0, + 0.7659 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.30945, + "euclidean_distance": 4.08455, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.83794, + 0.08441, + 7.07684 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "6c15ae9a3fc24613b9fcedb3da80aee5", + "path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3ZSANO2JCHA0JB555WYQR3ENQXTFSC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.20794, + 0.08441, + 12.33915 + ], + "start_rotation": [ + 0, + 0.30968, + 0, + 0.95084 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.18862, + "euclidean_distance": 2.04677, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.12258, + 0.08441, + 10.75097 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3YGXWBAF72KAEEJKOTC7LUDE2RAC40", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.90799, + -2.91559, + 6.42034 + ], + "start_rotation": [ + 0, + 0.39944, + 0, + -0.91676 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.20843, + "euclidean_distance": 6.90291, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.67741, + -2.31559, + -0.17557 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3K772S5NPAEJNORTZR2L57MKPD3HEJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.44213, + -2.91559, + 11.8808 + ], + "start_rotation": [ + 0, + 0.2154, + 0, + -0.97653 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 3.95986, + "euclidean_distance": 3.76034, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.33632, + -2.91559, + 15.42197 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "3107120d425e424dacedb73bf44e9094", + "path": [ + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3YJ6NA41JDJJBLB9W5LHBW14ZHHPJK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.12102, + -2.91559, + 15.62906 + ], + "start_rotation": [ + 0, + 0.96711, + 0, + 0.25435 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.38429, + "euclidean_distance": 19.2114, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.31542, + -2.31559, + -3.37165 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3VD82FOHKSREI7T27DRGZSJJW06COJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.03836, + -2.91559, + 12.01286 + ], + "start_rotation": [ + 0, + 0.98479, + 0, + -0.17377 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.14851, + "euclidean_distance": 3.02158, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.75446, + -2.91559, + 13.43174 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "9a10d725e7334967a8ca89b2a61c446e", + "path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3X4MXAO0BIRQTIRNGW8L5HVRML4RWZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.32377, + -2.91559, + 9.30693 + ], + "start_rotation": [ + 0, + 0.98717, + 0, + -0.15967 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.63354, + "euclidean_distance": 9.67082, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.75518, + -2.31559, + 0.22361 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ] + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3E4GGUZ1TAUIUYGLCSAHGYTONMB2KV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.74224, + -2.31559, + -2.48654 + ], + "start_rotation": [ + 0, + 0.79857, + 0, + -0.6019 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.30385, + "euclidean_distance": 2.65957, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.83815, + -2.31559, + 0.10368 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:336YQZE83XH5JJZBFNPVTIO4C6SM56", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.55626, + -2.91559, + 11.08064 + ], + "start_rotation": [ + 0, + 0.98152, + 0, + 0.19135 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 2.12412, + "euclidean_distance": 2.06413, + "closest_goal_object_id": 357, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.01712, + -2.91559, + 12.3571 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:333U7HK6IBIAMO8JRWUMB2KE482DJJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.35053, + 0.57126, + 2.93048 + ], + "start_rotation": [ + 0, + 0.23552, + 0, + -0.97187 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.4238, + "euclidean_distance": 1.3175, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.8914, + 0.68441, + 2.4316 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "541ab4e8ff1f4bc8bf20775a1fb38872", + "path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "refined_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ] + }, + { + "episode_id": "A1K581IY10MNC0:3B837J3LDQZXM1AEWRYK8SS6WHCSRN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.70804, + -2.91559, + 12.95379 + ], + "start_rotation": [ + 0, + 0.04014, + 0, + -0.99919 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.77858, + "euclidean_distance": 3.33305, + "closest_goal_object_id": 333, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.98133, + -2.91559, + 14.78273 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "d5839b78130944da925af878f4e64970", + "path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "refined_path": [ + "d5839b78130944da925af878f4e64970", + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ] + }, + { + "episode_id": "A1S0N5BIXAQO8I:3JWH6J9I9UGDQH1KSYV89JDVAGTNB6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.25154, + 3.80952, + 11.90907 + ], + "start_rotation": [ + 0, + 0.4918, + 0, + 0.87071 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.61133, + "euclidean_distance": 5.066, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.96759, + 3.48441, + 14.68782 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:36H9ULYP64X7K8MFI2PCZ2NZGPKFJ6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.08066, + -2.91559, + 9.91967 + ], + "start_rotation": [ + 0, + 0.71487, + 0, + -0.69926 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 8.1273, + "euclidean_distance": 6.23685, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.33747, + -2.91559, + 15.5772 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3I7DHKZYGP3ZD97UT0LIYS4UWWMF5V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.44666, + 0.08441, + 9.95156 + ], + "start_rotation": [ + 0, + 0.96913, + 0, + 0.24654 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.15932, + "euclidean_distance": 7.10589, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.60893, + 3.48999, + 6.08829 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_128_newN_0", + "path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3QXNC7EIPKYRHSUGT8FE71MTVZK90J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.62044, + 0.46149, + 3.29577 + ], + "start_rotation": [ + 0, + 0.86167, + 0, + -0.50748 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 18.31697, + "euclidean_distance": 4.46099, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.48321, + 3.48441, + 5.9185 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "64565f72062245da87430cc31dd383d9", + "path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "0_edge_113_newN_0" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3GNCZX450KQ8AS852Z84IXYL6WNAPQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.3949, + 3.48441, + 6.58252 + ], + "start_rotation": [ + 0, + 0.99089, + 0, + -0.13468 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.86537, + "euclidean_distance": 7.61678, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.27906, + 0.68441, + -0.29596 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3RU7GD8VPQWCAOUZJZUV3XSRSVSPSL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.33654, + -2.91559, + 12.49774 + ], + "start_rotation": [ + 0, + 0.55038, + 0, + 0.83491 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.50815, + "euclidean_distance": 3.17383, + "closest_goal_object_id": 339, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.72146, + -2.91559, + 15.28393 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "e345211511824219a62f1b8d639c477e", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "3678af49806f4220b821c23d4ec3d33b" + ], + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "AX8WLDRDXA7P9:33PPUNGG3A8UNDWSRJSS4LP9GTMZR0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.95743, + -2.31559, + 1.31596 + ], + "start_rotation": [ + 0, + 0.28828, + 0, + -0.95755 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.56841, + "euclidean_distance": 8.03004, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.63901, + -2.91559, + 8.63729 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "d962509cdba64e6ca76a6228582eb901", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3HRMW88U18T6OCDAIHJJCNSDV480M2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.95474, + -2.31559, + -2.91665 + ], + "start_rotation": [ + 0, + 0.54591, + 0, + -0.83784 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.47115, + "euclidean_distance": 4.79015, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7984, + -2.31559, + -3.47564 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3DI28L7YXCH8JD6FX2Z0DK6EOUFE1J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.29553, + 0.26164, + 3.83759 + ], + "start_rotation": [ + 0, + 0.99974, + 0, + -0.02265 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 17.13225, + "euclidean_distance": 5.08241, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64717, + 3.48441, + 5.54158 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "64565f72062245da87430cc31dd383d9", + "path": [ + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "24df7bedfc814d7e9bd610171c862f7a", + "a6ce5d580416478b847a83a2c537a637", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3A1PQ49WVJKK3NXHN376YN3Q2NP1HE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.046, + -2.91559, + 6.63823 + ], + "start_rotation": [ + 0, + 0.03262, + 0, + 0.99947 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.04106, + "euclidean_distance": 5.64586, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.71933, + -2.91559, + 8.63955 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TAYZSBPLNBGIHTTH1JJ7KKYHMK2SX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.43826, + -2.91559, + 5.92537 + ], + "start_rotation": [ + 0, + 0.97513, + 0, + 0.22163 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.69385, + "euclidean_distance": 10.44083, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.37436, + -2.91559, + 15.54202 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3A4NIXBJ782JL82W7A52A7K1VX8ML9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.59176, + -2.31559, + 2.52151 + ], + "start_rotation": [ + 0, + 0.55302, + 0, + 0.83316 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.9698, + "euclidean_distance": 5.49498, + "closest_goal_object_id": 486, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.59783, + -2.31559, + -0.86973 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A28HB7240OFGEW:3TEM0PF1Q703KI7X5OKGTX5JJRE0DH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.08166, + 0.08441, + 13.83653 + ], + "start_rotation": [ + 0, + 0.68774, + 0, + -0.72596 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 2.47783, + "euclidean_distance": 1.9388, + "closest_goal_object_id": 214, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.97094, + 0.08441, + 15.88258 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_185_newN_0", + "path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c" + ], + "refined_path": [ + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:34MAJL3QP6QM1EN1V016SR9K9RA349", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.51358, + 0.08441, + 16.15316 + ], + "start_rotation": [ + 0, + 0.07614, + 0, + -0.9971 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 28.927, + "euclidean_distance": 11.14709, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.54664, + 3.48769, + 5.74307 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + [ + "8d0cc65b2a484591a97b9a8282809f50" + ], + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:33SA9F9TRZX1KEMIUQOL6AW76D3EWT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.05475, + -2.31559, + -0.92943 + ], + "start_rotation": [ + 0, + 0.83845, + 0, + -0.54498 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.86781, + "euclidean_distance": 12.68568, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.30266, + -2.83428, + 9.97272 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "a55a46bc13e743ca8626a97ac056b8f3", + "path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3DZQRBDBSNI53ZPCL1XOQUPQAR13SV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.38247, + 3.51379, + 6.62478 + ], + "start_rotation": [ + 0, + 0.50011, + 0, + 0.86596 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.13574, + "euclidean_distance": 6.59541, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.29171, + 0.08441, + 6.07565 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "425e120b2d7742b1a8f0902355908761", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HL8HNGX474IEW96WQYZA89XYEZF96", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.21236, + 3.78359, + 11.58893 + ], + "start_rotation": [ + 0, + 0.17025, + 0, + 0.9854 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 26.98992, + "euclidean_distance": 5.88517, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.07221, + 0.08441, + 10.07417 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3AQF3RZ55ALVWD78YJVNQYIV8056FA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.35511, + -2.91559, + 6.01519 + ], + "start_rotation": [ + 0, + 0.88402, + 0, + 0.46746 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.74885, + "euclidean_distance": 3.7795, + "closest_goal_object_id": 376, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -5.3592, + -2.91559, + 9.35636 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3PS7W85Z815SX1R7RA3ORCOYC5U9TI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.86914, + -2.31559, + -0.44736 + ], + "start_rotation": [ + 0, + 0.31894, + 0, + 0.94778 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 2.88576, + "euclidean_distance": 2.31947, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.35101, + -2.31559, + 1.40152 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b" + ], + "instruction": "Locate the equipment.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3R08VXYT7EYGBZ787IAF004RYEV7WO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.20657, + -2.31559, + -3.07047 + ], + "start_rotation": [ + 0, + 0.45281, + 0, + 0.89161 + ], + "object_category": "table", + "info": { + "geodesic_distance": 18.60179, + "euclidean_distance": 14.99022, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.78081, + -2.91559, + 11.92523 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:32UTUBMZ7IZQYMATUPHZJ079AX1VB9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.06664, + 0.68441, + -0.43571 + ], + "start_rotation": [ + 0, + 0.14644, + 0, + 0.98922 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.71672, + "euclidean_distance": 6.45721, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55019, + 3.48441, + 5.50284 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A3F90N8YVKJ4I7:32UTUBMZ7IZQYMATUPHZJ079DZ6BV1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.99536, + -2.31559, + -3.10752 + ], + "start_rotation": [ + 0, + 0.79484, + 0, + 0.60682 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.96864, + "euclidean_distance": 9.05796, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.94161, + -2.91559, + 5.49073 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:33IZTU6J834HJXWQ5Q4CXAEUHQDSX3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.53378, + -1.4416, + 1.39503 + ], + "start_rotation": [ + 0, + 0.80317, + 0, + 0.59574 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 4.22227, + "euclidean_distance": 3.65364, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.57805, + -2.31559, + -0.12338 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "3264da900f47425c8c062f909db9abe0", + "path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3R3YRB5GRH6L2XG1JL7YS3LJYI8AU7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07247, + 3.56059, + 10.37078 + ], + "start_rotation": [ + 0, + 0.4074, + 0, + 0.91325 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.16501, + "euclidean_distance": 11.41734, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.90284, + 0.68441, + -0.6709 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A38AQF5BPHJS4C:3A0EX8ZRNAR72G5YZ04JQZB3VCVBYP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.79785, + -2.91559, + 12.11745 + ], + "start_rotation": [ + 0, + 0.45162, + 0, + 0.89221 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 1.3902, + "euclidean_distance": 1.3178, + "closest_goal_object_id": 357, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.14918, + -2.91559, + 12.4375 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "9a10d725e7334967a8ca89b2a61c446e", + "path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "refined_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3Y54SXRO1NOQHTFAPLYFN8BC23FUT8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.95384, + 3.65015, + 12.94321 + ], + "start_rotation": [ + 0, + 0.97998, + 0, + 0.19912 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.74097, + "euclidean_distance": 13.93747, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.79204, + 0.68441, + -0.62578 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3LWJHTCVCEPO6VQSDS9LW3ZMVXRFQ5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.31858, + -1.92466, + 0.86702 + ], + "start_rotation": [ + 0, + 0.1625, + 0, + 0.98671 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 6.7445, + "euclidean_distance": 6.30745, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.62127, + -2.31559, + -2.97596 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "e5bfa9c293cd44e1b14953500462dd72", + "path": [ + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3ZDAD0O1T3GIYX95UQ927FAGZELXTH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.53554, + 0.68441, + -0.8347 + ], + "start_rotation": [ + 0, + 0.07002, + 0, + -0.99755 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 1.50224, + "euclidean_distance": 1.36487, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.02398, + 0.68441, + -2.09746 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3J4Q2Z4UT06QHHCN3HJL0RLLNBSWQC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.3598, + 0.08441, + 9.70073 + ], + "start_rotation": [ + 0, + 0.93612, + 0, + 0.35168 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.59788, + "euclidean_distance": 7.89173, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49334, + 3.48441, + 5.6507 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "2b4fc2765e164775bb82e0aaf1d0d65d", + "path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3ZY8KE4ISL6D2SCID7EPEP28ZZ1QVM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.78841, + 3.48441, + 10.53602 + ], + "start_rotation": [ + 0, + 0.99852, + 0, + -0.05433 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.8623, + "euclidean_distance": 11.34548, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.50428, + 0.68441, + -0.28222 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3634BBTX0QXBPX290K4CN18Z3GIFIT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.02494, + 0.68441, + 1.53393 + ], + "start_rotation": [ + 0, + 0.50952, + 0, + -0.86046 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 14.22761, + "euclidean_distance": 5.50832, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.47694, + 3.48634, + 5.73914 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + [ + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3QAPZX2QN6GGH89H8Z0ZXEEF9OD02V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.11427, + -2.91559, + 8.74073 + ], + "start_rotation": [ + 0, + 0.97555, + 0, + 0.21976 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.73759, + "euclidean_distance": 4.64926, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69768, + -2.91559, + 13.42267 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "e345211511824219a62f1b8d639c477e", + "path": [ + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37WLF8U1WRT6CZZMZUMK6BA0FMFK6Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.68873, + 0.08441, + 8.47791 + ], + "start_rotation": [ + 0, + 0.40961, + 0, + 0.91226 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 20.73867, + "euclidean_distance": 6.61036, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.6002, + 3.48607, + 6.04525 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_128_newN_1", + "path": [ + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3T111IHZ5GTFHMEFNLYTRXNFLNIR99", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.52497, + 0.68441, + -2.48762 + ], + "start_rotation": [ + 0, + 0.40563, + 0, + 0.91404 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.66216, + "euclidean_distance": 8.56289, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.53677, + 3.48441, + 5.50143 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3EFVCAY5L5CY5TCSAOJ6PA6E73T8JK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.5856, + 3.48441, + 16.48405 + ], + "start_rotation": [ + 0, + 0.99818, + 0, + 0.06027 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 9.09569, + "euclidean_distance": 7.776, + "closest_goal_object_id": 27, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.50967, + 3.55035, + 9.94618 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3DIP6YHAPEVQUDQ0WN8FSUTM5ZWE8F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.00928, + 3.68441, + 12.96349 + ], + "start_rotation": [ + 0, + 0.67448, + 0, + 0.7383 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.25992, + "euclidean_distance": 8.05969, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.29095, + 0.08441, + 5.98296 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35" + ], + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IXQG4FA2V1S1FXQROC3RIIB3ILB9K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.73303, + 0.08441, + 6.67048 + ], + "start_rotation": [ + 0, + 0.92732, + 0, + -0.37428 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 24.10707, + "euclidean_distance": 4.77366, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.51318, + 3.48441, + 5.88465 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_1", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "0927e4d3dc3e4c8590fd3f7dc512a130", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3BDCF01OGZXJFPRAQDTD4277QQQLYO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.42506, + 0.68441, + -2.30881 + ], + "start_rotation": [ + 0, + 0.99974, + 0, + 0.02262 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.16196, + "euclidean_distance": 8.39942, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.57347, + 3.48441, + 5.36374 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3FE7TXL1LKQ451EGPXUECK5XMQS2Q8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.10842, + -2.91559, + 13.18496 + ], + "start_rotation": [ + 0, + 0.90059, + 0, + -0.43468 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.55187, + "euclidean_distance": 16.79684, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.19504, + -2.31559, + -3.40013 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3CFVK00FWNOHW5H4KUYLLBNFSRU6LV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.62498, + 0.58739, + 2.74989 + ], + "start_rotation": [ + 0, + 0.20828, + 0, + -0.97807 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 17.56392, + "euclidean_distance": 9.33696, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05494, + 0.08441, + 9.95747 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3PQ8K71NHZN1NO23DGQ7S29Q74EAAP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.68982, + 0.08441, + 6.39803 + ], + "start_rotation": [ + 0, + 0.01351, + 0, + 0.99991 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 28.84378, + "euclidean_distance": 8.53143, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.38074, + 3.48441, + 14.02671 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3ZWFC4W1UWAOIW5SQ7YL1T9R7SQFR1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.87287, + 0.08441, + 16.43259 + ], + "start_rotation": [ + 0, + 0.61638, + 0, + -0.78745 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 27.61741, + "euclidean_distance": 11.68792, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.75912, + 3.48441, + 5.36569 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3K3R2QNK8D67XE6WRFTYW8AZU3OU9I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.03945, + 0.68441, + 1.53132 + ], + "start_rotation": [ + 0, + 0.85869, + 0, + -0.5125 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 9.97291, + "euclidean_distance": 5.36737, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.61614, + 3.48441, + 6.03005 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A3F0NFNLOLFJT0:3JMSRU9HQKXO5PMD4GJPK8DTZG6VET", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.12008, + -2.91559, + 15.94713 + ], + "start_rotation": [ + 0, + 0.996, + 0, + 0.08938 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 12.35315, + "euclidean_distance": 11.12889, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.07148, + -2.91559, + 6.14698 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Y9N9SS8L0EZ1A6UOB2ZVV3P886D3R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.79876, + 0.08441, + 16.24016 + ], + "start_rotation": [ + 0, + 0.90189, + 0, + 0.43197 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 3.03869, + "euclidean_distance": 2.62042, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.66876, + 0.08441, + 13.73842 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LOZAJ85YFGOEYFSBBP66S1QW8TX2L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.72404, + -2.91559, + 13.87971 + ], + "start_rotation": [ + 0, + 0.96233, + 0, + 0.27187 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 19.67532, + "euclidean_distance": 17.42423, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.24244, + -2.31559, + -3.37615 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3PWWM24LHU1YZXEK33DEQTKX5I3829", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.45061, + 0.20813, + 4.46873 + ], + "start_rotation": [ + 0, + 0.02487, + 0, + -0.99969 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 19.44553, + "euclidean_distance": 4.03879, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.32326, + 3.48441, + 5.82117 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GNCZX450KQ8AS852Z84IXYKSDUAPF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.79297, + 0.68441, + -0.96958 + ], + "start_rotation": [ + 0, + 0.89979, + 0, + 0.43633 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.66718, + "euclidean_distance": 2.51774, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.46182, + 0.68441, + -3.04843 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3FTOP5WARHRGN47PFK6RWV0WBV80JJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.46882, + -0.45886, + 2.58376 + ], + "start_rotation": [ + 0, + 0.73207, + 0, + 0.68123 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 8.77102, + "euclidean_distance": 4.47485, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.90506, + -2.91559, + 5.35839 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "04e0d7506a0849009fabf4c10fa74a40", + "path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "refined_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:34Q075JO1ZG9SNRLPV0LSV49EUV10U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.65375, + -2.91559, + 6.47674 + ], + "start_rotation": [ + 0, + 0.97194, + 0, + 0.23524 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 12.28523, + "euclidean_distance": 9.95217, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.28229, + -2.31559, + -3.41273 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3DQQ64TANIO5H5B8344W0MVBKK8PWS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.15775, + -2.31559, + -2.71392 + ], + "start_rotation": [ + 0, + 0.04324, + 0, + 0.99906 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.50295, + "euclidean_distance": 13.47179, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.31493, + -2.87066, + 10.07718 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0" + ], + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3EA3QWIZ4KYL82KAV49145N0SC0TIX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.25593, + 0.68441, + -0.84604 + ], + "start_rotation": [ + 0, + 0.99852, + 0, + 0.0543 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.94473, + "euclidean_distance": 7.5104, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.37131, + 3.48441, + 3.44816 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:3QECW5O0KJ49WEPVOKQ7FWJW24AT5C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.93571, + 0.68441, + -2.64301 + ], + "start_rotation": [ + 0, + 0.06085, + 0, + 0.99815 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.71826, + "euclidean_distance": 1.54751, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.48803, + 0.68441, + -1.25765 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3VHP9MDGRPNKCUG98A8QCYA54DSFC5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.33966, + -2.91559, + 7.96179 + ], + "start_rotation": [ + 0, + 0.1094, + 0, + -0.994 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.11539, + "euclidean_distance": 4.68775, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.85241, + -2.91559, + 11.96245 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "de68d1221d1749b392aff06c48512cf0", + "path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f0307e707d50446097021ce802f44a4e", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3QEMNNSB2Z2H2T7HQN5P8CF5DD97DD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.02186, + -2.81877, + 9.74756 + ], + "start_rotation": [ + 0, + 0.91677, + 0, + 0.39942 + ], + "object_category": "table", + "info": { + "geodesic_distance": 7.73324, + "euclidean_distance": 3.7259, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.83602, + -2.91559, + 11.95737 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3UXUOQ9OKG0J4M456DENIB7ZSJZA7J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.33964, + 0.08441, + 13.11286 + ], + "start_rotation": [ + 0, + 0.34291, + 0, + -0.93937 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.39792, + "euclidean_distance": 9.22857, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64498, + 3.48441, + 5.44959 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "59d2f40b1fbf4784b2b661f05a439fad", + "path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3MHW492WW2GMHDEQLE78XGI267MVMJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.70006, + -2.91559, + 15.94143 + ], + "start_rotation": [ + 0, + 0.97832, + 0, + 0.20711 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.38749, + "euclidean_distance": 5.10898, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.77342, + -2.91559, + 13.37455 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:3SUWZRL0M0G3QZ7C38BH8GXUIJCE6A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.42168, + 0.68441, + 0.41254 + ], + "start_rotation": [ + 0, + 0.8495, + 0, + -0.52759 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.27409, + "euclidean_distance": 6.87786, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52587, + 3.48441, + 5.47055 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39O5D9O87VVPWI0GOF7OBPL7NHPC33", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.72323, + 0.08441, + 9.53567 + ], + "start_rotation": [ + 0, + 0.97944, + 0, + 0.20171 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 11.56253, + "euclidean_distance": 8.53848, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.92107, + 0.08441, + 14.88853 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_0", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "0_edge_65_newN_1", + "0_edge_55_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3LO69W1SU5GJTY6AW777X204ZIYGLB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.73572, + -2.31559, + 0.30363 + ], + "start_rotation": [ + 0, + 0.95054, + 0, + -0.3106 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 4.40963, + "euclidean_distance": 3.98937, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.1989, + -2.31559, + -3.37462 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "ASB83F0JJMDZ9:3WJ1OXY92CJN409OGI6TWB3VHRN8AE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.16909, + 3.77378, + 7.88276 + ], + "start_rotation": [ + 0, + 0.97048, + 0, + -0.24116 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 12.16028, + "euclidean_distance": 9.90233, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.76087, + 0.68441, + -0.72068 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3STRJBFXOYUCEXAYV7UDHL2E0CXTKQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.65855, + -2.91559, + 12.20897 + ], + "start_rotation": [ + 0, + 0.10992, + 0, + 0.99394 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 16.42797, + "euclidean_distance": 15.59888, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.24024, + -2.31559, + -3.44902 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "9a10d725e7334967a8ca89b2a61c446e", + "path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "5908a457f37a470aa0e8cd389f31d438", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3IJXV6UZ1ZM8SN7IRF464QMJKGBIRD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.3924, + 0.08441, + 6.25717 + ], + "start_rotation": [ + 0, + 0.86551, + 0, + -0.5009 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 27.94509, + "euclidean_distance": 8.92679, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35542, + 3.48441, + 13.9405 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "1e649cc84c9043b69e2367b7d5aeecf2", + "path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_185_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "a6ce5d580416478b847a83a2c537a637", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:31IBVUNM9U2GB3M9ZR3V2QYUSY5VFC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.37086, + 0.68441, + -2.89155 + ], + "start_rotation": [ + 0, + 0.70117, + 0, + 0.713 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 16.21317, + "euclidean_distance": 13.23785, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99019, + 0.08441, + 10.03985 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3OJSZ2ATDUZMYGSOBHN6A0RD01U75Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.12417, + 0.08441, + 7.28599 + ], + "start_rotation": [ + 0, + 0.68112, + 0, + 0.73217 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 13.26584, + "euclidean_distance": 10.22769, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.14489, + 0.68441, + -2.92852 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3CP1TO84PV4FCFVI556BE9A5N7Y259", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.85774, + -2.31559, + 2.37324 + ], + "start_rotation": [ + 0, + 0.77481, + 0, + 0.6322 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.92834, + "euclidean_distance": 5.19632, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.07812, + -2.91559, + 5.75848 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:31LVTDXBL9DAIOFOCI1JW6EB4MDLR9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.65046, + 0.08441, + 13.17537 + ], + "start_rotation": [ + 0, + 0.98372, + 0, + -0.17972 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 12.50805, + "euclidean_distance": 1.92353, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.17136, + 0.08441, + 14.42573 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3WOKGM4L73JUOFYMVXYW4RHINYQ0O5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.57355, + -2.91559, + 8.6565 + ], + "start_rotation": [ + 0, + 0.96141, + 0, + 0.27512 + ], + "object_category": "table", + "info": { + "geodesic_distance": 6.24814, + "euclidean_distance": 3.58662, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.00823, + -2.91559, + 11.91885 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3AAJC4I4FIVDPPDFJEJJ2U3I6HOJZY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.00527, + 0.08441, + 9.68226 + ], + "start_rotation": [ + 0, + 0.90635, + 0, + 0.42253 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 23.85634, + "euclidean_distance": 5.97606, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.73633, + 3.48441, + 5.38626 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3DIP6YHAPEVQUDQ0WN8FSUTM5U0E89", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.85482, + 0.08441, + 8.20038 + ], + "start_rotation": [ + 0, + 0.9981, + 0, + 0.06166 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 23.25923, + "euclidean_distance": 4.78429, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.38479, + 3.48441, + 5.82209 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "a872e012dec3414a8624f6ebda4b752c", + "path": [ + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7" + ] + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3IQ1VMJRYVNNI5SYLAC7W7Y61NS9A7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.33381, + -2.91559, + 14.41097 + ], + "start_rotation": [ + 0, + 0.93271, + 0, + -0.36062 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.12433, + "euclidean_distance": 1.74209, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.44738, + -2.91559, + 14.63273 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3VNXK88KKEL7ATVWW533SUCJ9QS9VG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.75913, + -2.88758, + 8.63105 + ], + "start_rotation": [ + 0, + 0.58172, + 0, + 0.81339 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 13.3622, + "euclidean_distance": 9.68981, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.87064, + -2.31559, + 0.30546 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3WQ3B2KGEAJACAUVNBXACC0S5NO1BQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.42384, + -2.91559, + 6.7482 + ], + "start_rotation": [ + 0, + 0.98884, + 0, + 0.14896 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 12.78627, + "euclidean_distance": 9.67964, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.32897, + -2.91559, + 15.471 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3IOEN3P9S9M46YD0RKG21WE172S16Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.25061, + 0.08441, + 15.46975 + ], + "start_rotation": [ + 0, + 0.57379, + 0, + -0.819 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 19.83367, + "euclidean_distance": 15.9778, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.09911, + 0.68441, + -0.09529 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3LEP4MGT3I3445A734H5DE12AW4DBB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.33, + 0.08441, + 13.0297 + ], + "start_rotation": [ + 0, + 0.86894, + 0, + -0.49491 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.9805, + "euclidean_distance": 8.40115, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52697, + 3.48441, + 5.61473 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A39E9936894TJR:3B3WTRP3DD5YD2XU8VJSQPF8PAI29X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.49989, + -2.91559, + 12.11823 + ], + "start_rotation": [ + 0, + 0.36474, + 0, + -0.93111 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 15.40141, + "euclidean_distance": 12.71301, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.71687, + -2.31559, + 0.23006 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3F1567XTNY8F5LZFA69TM7DB5BC9QO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.37801, + 3.68441, + 11.86443 + ], + "start_rotation": [ + 0, + 0.87273, + 0, + -0.4882 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.98987, + "euclidean_distance": 13.26416, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71832, + 0.68441, + -0.77107 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3I7DHKZYGP3ZD97UT0LIYS4UWH3F5I", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.0449, + -2.91559, + 12.91273 + ], + "start_rotation": [ + 0, + 0.99984, + 0, + 0.01784 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.83468, + "euclidean_distance": 1.77786, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71456, + -2.91559, + 13.36633 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "d2a0481db3044dfbac40244bdbf9f9e1", + "path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3Y9N9SS8L0EZ1A6UOB2ZVV3QMA73D2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.59286, + -2.91559, + 8.7802 + ], + "start_rotation": [ + 0, + 0.61742, + 0, + -0.78663 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.1622, + "euclidean_distance": 3.99881, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.82779, + -2.91559, + 11.7291 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3F0BG9B9MRQK0428MJS3LXP7CRH7YM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.23396, + 3.68441, + 10.84797 + ], + "start_rotation": [ + 0, + 0.22872, + 0, + -0.97349 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 25.31731, + "euclidean_distance": 3.91707, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.09547, + 0.08441, + 10.16092 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39ZSFO5CAAZW3QJ5DRKBL2O37UIUJM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.09924, + -2.31559, + 1.93433 + ], + "start_rotation": [ + 0, + 0.10696, + 0, + 0.99426 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.61285, + "euclidean_distance": 6.88523, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.75896, + -2.91559, + 8.75411 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:33PPUNGG3A8UNDWSRJSS4LP82HPZRZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.84821, + 0.08441, + 10.08472 + ], + "start_rotation": [ + 0, + 0.20558, + 0, + -0.97864 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.3802, + "euclidean_distance": 8.48904, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.73377, + 3.48441, + 5.42523 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "a6ce5d580416478b847a83a2c537a637", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3BDCF01OGZXJFPRAQDTD42784J5LY5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.58202, + 0.08441, + 16.19342 + ], + "start_rotation": [ + 0, + 0.84834, + 0, + 0.52945 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 20.53998, + "euclidean_distance": 16.57047, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13091, + 0.68441, + -0.10504 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3QIYRE09Y5KCDJJSQ12J370N5K7N17", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.93861, + 0.08441, + 12.59932 + ], + "start_rotation": [ + 0, + 0.00288, + 0, + -1 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.21865, + "euclidean_distance": 9.57876, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69566, + 3.48441, + 5.44804 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A101U3FTZYY87V:3QUO65DNQWRA41A2T4CGTY5PQEDUOQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.77056, + 3.59951, + 10.55919 + ], + "start_rotation": [ + 0, + 0.95336, + 0, + -0.30183 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 14.79717, + "euclidean_distance": 11.25242, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49162, + 0.68441, + -0.32173 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:3HHRAGRYXA8CK9MZVTHPX2IBDT7O9X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.6215, + 3.52465, + 13.15475 + ], + "start_rotation": [ + 0, + 0.33269, + 0, + -0.94304 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 15.21169, + "euclidean_distance": 13.83705, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.43974, + 0.68441, + -0.35736 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "1144d00a8ebd417f8a0de419ea12c1e5", + "path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "refined_path": [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NGMS9VZTNLRF60JZCYRK4V81CSFFW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.9564, + 0.35567, + 3.78253 + ], + "start_rotation": [ + 0, + 0.93753, + 0, + -0.3479 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 13.16669, + "euclidean_distance": 6.96051, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.31694, + 3.48441, + 3.28036 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "64565f72062245da87430cc31dd383d9", + "path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:37U1UTWH9XPF3HV5ITSFR1S54EW8RW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.01152, + -2.31559, + 2.13404 + ], + "start_rotation": [ + 0, + 0.89005, + 0, + 0.45587 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.81132, + "euclidean_distance": 6.71912, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69887, + -2.31559, + -3.42334 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X31TUMD7ZPMPJG7EOM4QFWYXRAL17", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.06995, + 3.48441, + 15.30384 + ], + "start_rotation": [ + 0, + 0.3846, + 0, + -0.92308 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 4.14502, + "euclidean_distance": 3.01722, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00371, + 3.48441, + 14.76335 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:384PI804XU49M7QF2EF5OWRJKVVS0C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.45, + 3.48441, + 16.60227 + ], + "start_rotation": [ + 0, + 0.77834, + 0, + 0.62784 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 29.94535, + "euclidean_distance": 11.38104, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.33393, + 0.08441, + 6.03395 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3JC6VJ2SADM4HIQMIKZQKRT4ITXA5C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.53294, + -2.71773, + 3.58144 + ], + "start_rotation": [ + 0, + 0.94604, + 0, + -0.32406 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 2.38417, + "euclidean_distance": 2.21535, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.00546, + -2.91559, + 5.77966 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + [ + "15791b161c944d269ae3727bf19fc1a6" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3RSDURM96CP59JHI9R69R7HOI1JYER", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.92294, + 0.08441, + 15.53942 + ], + "start_rotation": [ + 0, + 0.201, + 0, + -0.97959 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.4902, + "euclidean_distance": 6.88469, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.00849, + 0.08441, + 8.99166 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VAR3R6G1R4C643PQ1BBX6N06WQO84", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.54766, + 0.68441, + -2.69738 + ], + "start_rotation": [ + 0, + 0.82852, + 0, + -0.55996 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.26063, + "euclidean_distance": 10.32011, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.54072, + 3.59933, + 7.16842 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3IAEQB9FMGNWS88IYVD10SEM4VPWDR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.30964, + 0.08441, + 7.32078 + ], + "start_rotation": [ + 0, + 0.93847, + 0, + 0.34536 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.81073, + "euclidean_distance": 7.38179, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.14966, + 0.68441, + 0.35481 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0927e4d3dc3e4c8590fd3f7dc512a130", + "path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A3F966OJMV2DUB:3PM8NZGV80J56HHDDMF72AZTC71XQF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.45486, + 1.2406, + 0.57832 + ], + "start_rotation": [ + 0, + 0.64334, + 0, + 0.76558 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 15.31013, + "euclidean_distance": 14.1711, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37588, + 3.48441, + 14.02796 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "a3fe827d49db4f7caa076c313434d418", + "path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ], + "refined_path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418" + ], + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3TMSXRD2X8320DS6I2T6ZQDEIKV1WS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.07729, + 3.68441, + 11.59907 + ], + "start_rotation": [ + 0, + 0.48045, + 0, + -0.87702 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.73454, + "euclidean_distance": 12.94479, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.88464, + 0.68441, + -0.63247 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3IAEQB9FMGNWS88IYVD10SENNPCWDN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.25252, + -2.91559, + 16.12916 + ], + "start_rotation": [ + 0, + 0.93812, + 0, + 0.3463 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.3734, + "euclidean_distance": 4.82843, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.93778, + -2.91559, + 12.08467 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "36127c5e30e644799c0f1a1ecd4381ca", + "path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:379J5II41QJL9KAJQCHJXZFSM1HELO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.91928, + 3.4975, + 8.11034 + ], + "start_rotation": [ + 0, + 0.11021, + 0, + -0.99391 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.21722, + "euclidean_distance": 8.92245, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.43693, + 0.68441, + -0.32624 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3MB8LZR5BHWOVK2TMYSMVUSX64SLK6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.27635, + 0.08441, + 6.88161 + ], + "start_rotation": [ + 0, + 0.93976, + 0, + -0.34184 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.07802, + "euclidean_distance": 7.07915, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.0634, + 0.68441, + -0.07984 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_55_newN_0", + "path": [ + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3WJ1OXY92CJN409OGI6TWB3U34ZA82", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.14115, + 0.08441, + 13.42622 + ], + "start_rotation": [ + 0, + 0.34871, + 0, + 0.93723 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 24.65548, + "euclidean_distance": 8.56007, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52465, + 3.48441, + 5.63411 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3DUZQ9U6SORPF8RV5B3U9PH9HOUVSQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.32751, + 3.505, + 7.39595 + ], + "start_rotation": [ + 0, + 0.33253, + 0, + 0.94309 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 23.23462, + "euclidean_distance": 5.55393, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.98827, + 0.08441, + 9.99463 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3U5NZHP4LT5NKFGJ85IWZJLO3W7HPU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.03597, + -2.91559, + 7.3199 + ], + "start_rotation": [ + 0, + 0.97707, + 0, + -0.21293 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 8.23426, + "euclidean_distance": 7.37363, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.86031, + -2.31559, + 0.29713 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2GQH4SWIOFH2L:3ZPBJO59KR4EVIDT3WR1ZP4086QDH5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.10037, + -2.27987, + 1.7466 + ], + "start_rotation": [ + 0, + 0.17658, + 0, + -0.98429 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.97861, + "euclidean_distance": 4.85664, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.93547, + -2.91559, + 5.4594 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3GFK2QRXXBK1OVTPJPVI2GQV7L95W6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.35309, + -2.91559, + 6.62222 + ], + "start_rotation": [ + 0, + 0.89697, + 0, + 0.4421 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 12.47376, + "euclidean_distance": 11.28298, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.68679, + -2.31559, + -3.43751 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YJ6NA41JDJJBLB9W5LHBW14ZDXJPM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.20337, + 0.08441, + 12.97602 + ], + "start_rotation": [ + 0, + 0.95618, + 0, + 0.29279 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 26.03928, + "euclidean_distance": 10.38173, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.60559, + 0.08441, + 7.26782 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "3ffabcbad5894c6e8f03f54453a1e2e9", + "path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:31HQ4X3T3UDMJ3F1R71OMGJ7NM0SL1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.67694, + -2.31559, + 0.06326 + ], + "start_rotation": [ + 0, + 0.47033, + 0, + -0.88249 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.142, + "euclidean_distance": 8.82921, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.76512, + -2.91559, + 8.70559 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3Z3ZLGNNSKXTQJAZTX8JVUAP8FXQ3E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.33942, + 3.54258, + 9.07589 + ], + "start_rotation": [ + 0, + 0.96904, + 0, + 0.24691 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.00222, + "euclidean_distance": 6.56994, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.0014, + 3.48441, + 14.69932 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A75XDPFNICR3T:338JKRMM282GXBAHJM0Z9OWUJOWHAC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.58555, + -2.51559, + 13.98834 + ], + "start_rotation": [ + 0, + 0.33023, + 0, + 0.9439 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.64947, + "euclidean_distance": 2.19187, + "closest_goal_object_id": 342, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.50162, + -2.91559, + 16.01959 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:30MVJZJNHOGYJYV2FGPKP61OBFNJ9Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.42198, + 0.08441, + 9.43099 + ], + "start_rotation": [ + 0, + 0.96091, + 0, + -0.27686 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 20.354, + "euclidean_distance": 6.7015, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67404, + 3.48441, + 5.47882 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:33FBRBDW6Q2BXF6M0W2K26TJHU88CG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.9074, + 3.56737, + 7.44372 + ], + "start_rotation": [ + 0, + 0.02499, + 0, + 0.99969 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.84769, + "euclidean_distance": 9.01241, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.90524, + 0.68441, + -0.61004 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A75XDPFNICR3T:3NQL1CS15TBMBU344HVJRB5AUUCYVV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.28046, + 0.68441, + -2.63459 + ], + "start_rotation": [ + 0, + 0.99603, + 0, + 0.089 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 15.56606, + "euclidean_distance": 8.8873, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.55769, + 3.4868, + 5.86424 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3WR9XG3T65E42XOOXC4W58L0ERA74S", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.91008, + 3.48441, + 14.79556 + ], + "start_rotation": [ + 0, + 0.99698, + 0, + 0.07764 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 3.61689, + "euclidean_distance": 2.81321, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99413, + 3.48441, + 14.77507 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "9f604c054f8f4a0da5778d3c0b36575d", + "path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "AZPZDX26SYMFY:384PI804XU49M7QF2EF5OWRJKUE0S1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07249, + 0.08441, + 15.52866 + ], + "start_rotation": [ + 0, + 0.91323, + 0, + 0.40746 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 26.47414, + "euclidean_distance": 10.63719, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.46888, + 3.48461, + 5.72129 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3KIBXJ1WD7XW155QZQ8ENBWR403OKH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.11302, + 0.08441, + 6.58152 + ], + "start_rotation": [ + 0, + 0.99997, + 0, + 0.00806 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.59043, + "euclidean_distance": 10.02181, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.20902, + 0.68441, + -2.94616 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "fc4462fb87874bc8b6d77e45806168df", + "path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AEWGY34WUIA32:3A4NIXBJ782JL82W7A52A7K1V29MLK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.79037, + -2.91559, + 12.16173 + ], + "start_rotation": [ + 0, + 0.9028, + 0, + -0.43006 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 8.87826, + "euclidean_distance": 7.76507, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.06445, + -2.91559, + 6.22291 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A1S1K7134S2VUC:39N5ACM9HGQU59Y0ATU4M2N13BYP9G", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.07834, + 3.48441, + 15.16449 + ], + "start_rotation": [ + 0, + 0.20968, + 0, + -0.97777 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 10.3408, + "euclidean_distance": 9.4382, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.6079, + 3.49568, + 5.82172 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "e611700e04a24c3dabb73b0b000e5589", + "path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1NKBXOTZAI1YK:3BQU611VFRN9DMITT4Y70CNMV3H99V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.80199, + -2.71559, + 7.6934 + ], + "start_rotation": [ + 0, + 0.96774, + 0, + 0.25195 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.55349, + "euclidean_distance": 2.14434, + "closest_goal_object_id": 376, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -5.33715, + -2.91559, + 9.34409 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918" + ] + }, + { + "episode_id": "A272X64FOZFYLB:31HQ4X3T3UDMJ3F1R71OMGJ659MLS6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.06801, + 0.08441, + 8.3258 + ], + "start_rotation": [ + 0, + 0.98894, + 0, + 0.14834 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 18.14159, + "euclidean_distance": 4.85268, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.55326, + 3.49272, + 6.09457 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "0_edge_190_newN_0", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3EWIJTFFVQA8COLX1JV0ZFN46PY0EO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.32797, + 0.08441, + 12.37891 + ], + "start_rotation": [ + 0, + 0.86358, + 0, + -0.50421 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.5969, + "euclidean_distance": 11.08427, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.23612, + 3.48441, + 3.3454 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3GA6AFUKOQRGDQBWA7LPMGIOHPA3HY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.28967, + 0.68441, + 1.29914 + ], + "start_rotation": [ + 0, + 0.7732, + 0, + 0.63417 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 22.71093, + "euclidean_distance": 13.19884, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.41098, + 3.48441, + 13.97713 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:3NQL1CS15TBMBU344HVJRB59HJ2YVK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.65514, + 0.08441, + 4.64299 + ], + "start_rotation": [ + 0, + 0.31855, + 0, + 0.94791 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.73154, + "euclidean_distance": 3.6986, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43432, + 0.08441, + 6.37037 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "6c15ae9a3fc24613b9fcedb3da80aee5", + "path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3TVRFO09GMIUFK10LH7BLO0Z1QCLXP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.61745, + 3.5303, + 12.08198 + ], + "start_rotation": [ + 0, + 0.60802, + 0, + -0.79392 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 7.91714, + "euclidean_distance": 7.51242, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.43478, + 3.48441, + 5.79834 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A3H0J7KPSIRZ7H:3JMSRU9HQKXO5PMD4GJPK8DUD5VEVV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.55349, + -2.91559, + 5.8601 + ], + "start_rotation": [ + 0, + 0.69749, + 0, + 0.71659 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 7.08767, + "euclidean_distance": 6.38589, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.61673, + -2.31559, + -0.17738 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "d962509cdba64e6ca76a6228582eb901", + "path": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "e345211511824219a62f1b8d639c477e", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + [ + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6" + ], + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:32Q90QCQ1UOAPES15C5IIZ2DX23KEK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.98045, + -2.91559, + 12.07761 + ], + "start_rotation": [ + 0, + 0.98575, + 0, + -0.16824 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 17.15858, + "euclidean_distance": 15.46916, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.14726, + -2.31559, + -3.33882 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0_edge_153_newN_0", + "path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "5908a457f37a470aa0e8cd389f31d438", + "4b77e304d83943999198c3cd4457512c", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_233_newN_1" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "a991b11e3a524fab95a7a98c3ac18ee4", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + [ + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "a991b11e3a524fab95a7a98c3ac18ee4", + [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "0_edge_233_newN_1", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ] + ] + }, + { + "episode_id": "AX7K5UODLEK72:32XVDSJFP10DKMGOX4NXVBLSS1U2MO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.44122, + 3.55092, + 6.62131 + ], + "start_rotation": [ + 0, + 0.59203, + 0, + -0.80592 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.20266, + "euclidean_distance": 4.47735, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.27352, + 0.08441, + 6.03418 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3DY46V3X3RL7BCE5NO89CGDINII55Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.76506, + 3.64134, + 8.09107 + ], + "start_rotation": [ + 0, + 0.17185, + 0, + -0.98512 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.87501, + "euclidean_distance": 9.12805, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.3075, + 0.68441, + -0.26369 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HWRJOOET758DX59ALEK9LTNHPJESN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.88751, + 0.08441, + 5.8548 + ], + "start_rotation": [ + 0, + 0.51596, + 0, + 0.85661 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.47666, + "euclidean_distance": 8.61835, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.65368, + 0.08441, + 14.35211 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "fc4462fb87874bc8b6d77e45806168df", + "path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:31Q0U3WYDRINAYR5AULU7AEX56371J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.74875, + 3.48441, + 8.78881 + ], + "start_rotation": [ + 0, + 0.51332, + 0, + 0.8582 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.77267, + "euclidean_distance": 6.59823, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.35695, + 0.08441, + 6.00626 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3TY7ZAOG5HNBYOD7X563XA096YQK0S", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.30572, + 0.08441, + 11.88824 + ], + "start_rotation": [ + 0, + 0.59376, + 0, + -0.80464 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.62134, + "euclidean_distance": 12.52191, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.03077, + 0.68441, + -0.20365 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:386PBUZZXH0TK0WB4DSAUFSJB9YLJJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.34166, + -2.31559, + 0.25916 + ], + "start_rotation": [ + 0, + 0.57865, + 0, + 0.81557 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 5.71884, + "euclidean_distance": 3.62442, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.16903, + -2.31559, + -3.40129 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3FFJ6VRIL3RKSTNJX2LRKULVXDY0ID", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.5232, + -0.36377, + 2.7288 + ], + "start_rotation": [ + 0, + 0.97669, + 0, + 0.21467 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.13189, + "euclidean_distance": 4.20753, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.08103, + -2.91559, + 5.61655 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "04e0d7506a0849009fabf4c10fa74a40", + "path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:351SEKWQS2K0NWE4UT7ERUCV6Z2DMK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.42372, + -0.77914, + 2.16355 + ], + "start_rotation": [ + 0, + 0.23103, + 0, + 0.97295 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 3.61502, + "euclidean_distance": 2.13058, + "closest_goal_object_id": 463, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.39716, + -2.31559, + 1.01253 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "04e0d7506a0849009fabf4c10fa74a40", + "path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "refined_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + [ + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3NKQQ8O3908J04JD3VY0I4TQ2E2UDX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.55552, + 0.08441, + 9.88147 + ], + "start_rotation": [ + 0, + 0.64133, + 0, + 0.76726 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 5.62624, + "euclidean_distance": 4.64519, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.00737, + 0.08441, + 9.02779 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3HSYG7LRBL1DBEKB1YGLGUFIGHGKKK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.39053, + -2.38486, + 2.95311 + ], + "start_rotation": [ + 0, + 0.20251, + 0, + 0.97928 + ], + "object_category": "table", + "info": { + "geodesic_distance": 10.02889, + "euclidean_distance": 9.27794, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.96567, + -2.91559, + 11.90083 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3WLEIWSYHQKRS8FD677K36DW8BT2H2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.47283, + 0.68441, + -0.57467 + ], + "start_rotation": [ + 0, + 0.02709, + 0, + -0.99963 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.12998, + "euclidean_distance": 6.8378, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.5171, + 3.48441, + 5.53122 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "4cac488dae6a442289ce32fd0b6a42fe", + "path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3TR2532VIRXB1FT4H9M85WANO356JB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.71329, + -2.7907, + 7.17763 + ], + "start_rotation": [ + 0, + 0.71858, + 0, + -0.69545 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 12.1183, + "euclidean_distance": 8.84676, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.67619, + -2.31559, + -0.20454 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "d962509cdba64e6ca76a6228582eb901", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3XCC1ODXDNEL9LV14N9FDSD5ETPRQV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.83833, + 0.08441, + 15.98584 + ], + "start_rotation": [ + 0, + 0.24374, + 0, + 0.96984 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 29.42893, + "euclidean_distance": 11.18277, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.51169, + 3.48771, + 5.74882 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A5A14MTB35J23:3XUHV3NRVM1JR5Y0OQ9I1DG8VL9H5A", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.07045, + 0.71454, + -0.26827 + ], + "start_rotation": [ + 0, + 0.05653, + 0, + 0.9984 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.66257, + "euclidean_distance": 14.97388, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37432, + 3.48441, + 13.93711 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "e0f025c0baa94beba57ea499e3d846c5", + "path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "0_edge_190_newN_0", + "a6ce5d580416478b847a83a2c537a637", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3HSYG7LRBL1DBEKB1YGLGUFIKVRKKR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.13596, + 0.08441, + 3.75126 + ], + "start_rotation": [ + 0, + 0.0622, + 0, + -0.99806 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 15.86608, + "euclidean_distance": 5.35109, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76609, + 3.48441, + 5.3937 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "6c15ae9a3fc24613b9fcedb3da80aee5", + "path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AOWW3URQNRJ6U:38F71OA9GVZXLGS0LZ24FUFH15RFMD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.53095, + 3.48441, + 14.20141 + ], + "start_rotation": [ + 0, + 0.74706, + 0, + 0.66475 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 29.15844, + "euclidean_distance": 5.57811, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.98971, + 0.08441, + 10.07005 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "AEWGY34WUIA32:3IHR8NYAM94T83SOTYYD5UCLELGP4H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.77355, + 0.08441, + 10.75717 + ], + "start_rotation": [ + 0, + 0.97018, + 0, + 0.2424 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 29.01057, + "euclidean_distance": 5.59634, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.02605, + 3.48441, + 14.65217 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_195_newN_3", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845" + ], + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:3MHW492WW2GMHDEQLE78XGI3PY2VM2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.5771, + 0.08441, + 14.59018 + ], + "start_rotation": [ + 0, + 0.28959, + 0, + 0.95715 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.45887, + "euclidean_distance": 10.36142, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.59872, + 3.48441, + 5.51321 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3WJ1OXY92CJN409OGI6TWB3V47X8A7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.14359, + 3.84934, + 13.03879 + ], + "start_rotation": [ + 0, + 0.42421, + 0, + -0.90557 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 16.28736, + "euclidean_distance": 14.59953, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.88785, + 0.68441, + -0.56983 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3I3WADAZ9S7TJMKNS348LMD94CHO56", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.69443, + 0.08441, + 8.59705 + ], + "start_rotation": [ + 0, + 0.52126, + 0, + 0.85339 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 27.49101, + "euclidean_distance": 7.06762, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.02067, + 3.48441, + 14.72181 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_190_newN_1", + "path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0" + ], + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418" + ], + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:34J10VATJH18GMSIE0F6Z0CEO65IQW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.61749, + -2.91559, + 13.40935 + ], + "start_rotation": [ + 0, + 0.98746, + 0, + 0.15788 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.96403, + "euclidean_distance": 5.30376, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.81956, + -2.91559, + 13.44181 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:3WETL7AQWVB4XXR195KGXJFYCIY532", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.37841, + 0.68441, + 1.58944 + ], + "start_rotation": [ + 0, + 0.93182, + 0, + -0.36292 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.41587, + "euclidean_distance": 4.49698, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.30137, + 0.68441, + -2.87636 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3L70J4KAZIPZLV5FXQH9I3HWSKWAD2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.67041, + -2.91559, + 6.39388 + ], + "start_rotation": [ + 0, + 0.81595, + 0, + -0.57813 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 8.97916, + "euclidean_distance": 7.22121, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.80941, + -2.31559, + 0.2271 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3ATPCQ38JAD2J606TM4NVORXAL4YAQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.28415, + 0.08441, + 8.81254 + ], + "start_rotation": [ + 0, + 0.46945, + 0, + 0.88296 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.86735, + "euclidean_distance": 5.14905, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.50012, + 3.49595, + 6.10693 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "a6ce5d580416478b847a83a2c537a637", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "fc94c2a0445640028200b2f96e1fe90c" + ], + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34J10VATJH18GMSIE0F6Z0CDA5TIQ2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.26643, + 3.48441, + 15.94869 + ], + "start_rotation": [ + 0, + 0.91807, + 0, + 0.39642 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 11.71262, + "euclidean_distance": 10.8269, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.40559, + 3.48441, + 5.80167 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3300DTYQT4KW0HQWIHPFELEMWDZQEW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.80718, + -2.31559, + -0.4389 + ], + "start_rotation": [ + 0, + 0.25813, + 0, + -0.96611 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.14563, + "euclidean_distance": 5.48194, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7236, + -2.31559, + -3.4201 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "d83a8f5db61b4b78afc1c1d855b4c8b9", + "path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2I6ZALE49CVSC:3X1FV8S5JZUMP3I4AB9DKBY6D3PGVG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.06757, + -2.91559, + 8.24173 + ], + "start_rotation": [ + 0, + 0.98206, + 0, + -0.18856 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.2954, + "euclidean_distance": 5.373, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.70356, + -2.91559, + 13.35894 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_181_newN_0", + "path": [ + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:33UKMF931BNBHG0LPG85ICPAMMVTT0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.08772, + -2.91559, + 9.3107 + ], + "start_rotation": [ + 0, + 0.62314, + 0, + -0.78211 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.71306, + "euclidean_distance": 5.50613, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71871, + -2.91559, + 13.30219 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3X0H8UUIT3R2UXR0VL8QVR0NL5UWSC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.22567, + -2.31559, + 1.9744 + ], + "start_rotation": [ + 0, + 0.94357, + 0, + -0.33116 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.13439, + "euclidean_distance": 4.96861, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.72373, + -2.31559, + -3.00505 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2AAY4VT9L71SY:31Q0U3WYDRINAYR5AULU7AEX56T719", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.23911, + -2.91559, + 13.89614 + ], + "start_rotation": [ + 0, + 0.91037, + 0, + -0.41379 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.08879, + "euclidean_distance": 7.88887, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.0357, + -2.91559, + 6.10296 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "AJQGWGESKQT4Y:3P4RDNWND79RUZO5JAVX2Z0SD2DIJQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.65738, + 0.08441, + 12.10151 + ], + "start_rotation": [ + 0, + 0.78002, + 0, + 0.62576 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 26.00855, + "euclidean_distance": 9.55877, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.60473, + 3.48441, + 5.61173 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "9d0091e93633403c910577b4221e353c", + "path": [ + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "0_edge_185_newN_0", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "a6ce5d580416478b847a83a2c537a637", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9d0091e93633403c910577b4221e353c", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8" + ], + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3KOPY89HMA5C4W6MY7OAYTY3Q6M3JL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.86828, + -2.31559, + -1.89964 + ], + "start_rotation": [ + 0, + 0.50838, + 0, + 0.86114 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.81892, + "euclidean_distance": 2.77888, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.91099, + -2.31559, + -2.36889 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "5908a457f37a470aa0e8cd389f31d438", + "path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3N1FSUEFL73KJ6PYOP7I50VW3X74D5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.56993, + -2.91559, + 16.08389 + ], + "start_rotation": [ + 0, + 0.54474, + 0, + -0.8386 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.27678, + "euclidean_distance": 3.1636, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.33779, + -2.91559, + 15.56599 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:30OG32W0SWEBXKD42PXYARJHR3ZNEV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.10207, + -2.91559, + 13.35981 + ], + "start_rotation": [ + 0, + 0.91137, + 0, + 0.41159 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 15.37777, + "euclidean_distance": 13.74481, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64954, + -2.31559, + 0.26865 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3HUTX6F6VWQ1KP10AK2ANFAW6FB2OE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.20633, + 0.68441, + -1.18829 + ], + "start_rotation": [ + 0, + 0.05217, + 0, + 0.99864 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 17.53121, + "euclidean_distance": 15.8908, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.42034, + 3.48441, + 14.00844 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "e0f025c0baa94beba57ea499e3d846c5", + "path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:34QN5IT0T1UR3NB6OG9075RIVOX08Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.53013, + -2.91559, + 9.84835 + ], + "start_rotation": [ + 0, + 0.76109, + 0, + -0.64864 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 12.94456, + "euclidean_distance": 10.65155, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.70297, + -2.31559, + 0.26939 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "2754c89e3b2645d598ace5d7878f5d13", + "path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3C6FJU71TSWMYFE4ZRLEVP3Q1CGYUG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.27349, + 1.03888, + 0.31248 + ], + "start_rotation": [ + 0, + 0.62436, + 0, + -0.78113 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 9.69412, + "euclidean_distance": 7.09141, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.48199, + 3.48441, + 5.82829 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "a3fe827d49db4f7caa076c313434d418", + "path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_131_newN_1", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418" + ], + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3DUZQ9U6SORPF8RV5B3U9PH80YCSV6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.11712, + 0.08441, + 8.94232 + ], + "start_rotation": [ + 0, + 0.69745, + 0, + 0.71663 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 21.85389, + "euclidean_distance": 7.77424, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.48796, + 0.08441, + 7.28336 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:36AHBNMV1TF0HD3IDWVPLPZ3VYDDY3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.98265, + -2.91559, + 15.99837 + ], + "start_rotation": [ + 0, + 0.67768, + 0, + 0.73536 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.35577, + "euclidean_distance": 5.55116, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.40507, + -2.91559, + 15.59865 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A75XDPFNICR3T:35BLDD71I80MGKD903X25IEC43YVZZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.4514, + 3.48441, + 15.98136 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00427 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 19.18126, + "euclidean_distance": 17.03047, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71548, + 0.68441, + -0.75977 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3XCC1ODXDNEL9LV14N9FDSD5BP9RQ4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.68072, + 0.08441, + 6.94909 + ], + "start_rotation": [ + 0, + 0.13383, + 0, + 0.991 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.45678, + "euclidean_distance": 2.31257, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.46025, + 0.08441, + 6.36993 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A1F6MWP9A0XLJQ:3U8YCDAGXRJX9RB2AAQ0TWCI50DQ0D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.72641, + 0.68441, + -0.83095 + ], + "start_rotation": [ + 0, + 0.44846, + 0, + -0.8938 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 14.39751, + "euclidean_distance": 7.97543, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.62008, + 3.48441, + 5.43537 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Locate the seating.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_223_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "9d0091e93633403c910577b4221e353c", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + [ + "7a663a2787474bc2b09a4e8b21325141" + ], + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3TUI152ZZDQXGGWK6TU071VSUJZ1Q9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.32781, + 0.08441, + 8.82038 + ], + "start_rotation": [ + 0, + 0.81455, + 0, + -0.58009 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.06872, + "euclidean_distance": 3.33193, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.09791, + 0.08441, + 8.98273 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_190_newN_0", + "path": [ + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3OWEPKL08BFQO5YUFHJS4HR05FH7ND", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.74445, + -2.31559, + -2.4702 + ], + "start_rotation": [ + 0, + 0.06604, + 0, + -0.99782 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 3.29897, + "euclidean_distance": 2.64475, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.9588, + -2.31559, + 0.08867 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3BDCF01OGZXJFPRAQDTD4278773LYI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.58945, + -2.60546, + 3.41989 + ], + "start_rotation": [ + 0, + 0.99682, + 0, + -0.07963 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.95539, + "euclidean_distance": 5.89512, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.07413, + -2.31559, + -2.29849 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "15791b161c944d269ae3727bf19fc1a6", + "path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3Z7ISHFUH2YO58HWSAMSD4U4Q8LZ8P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.76362, + 3.48441, + 14.8052 + ], + "start_rotation": [ + 0, + 0.99493, + 0, + 0.10056 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 26.04295, + "euclidean_distance": 11.09925, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.31778, + 0.08441, + 6.14495 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3Z7VU45IP0K6U8XBTPDDYU7WCV8Z1K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.85874, + -2.31559, + 0.12109 + ], + "start_rotation": [ + 0, + 0.39596, + 0, + 0.91827 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 16.46727, + "euclidean_distance": 15.53675, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.22605, + -2.91559, + 15.46117 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:35H6S234SC33UGEJS7IE4MRIMBV658", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.56005, + 3.5065, + 5.94884 + ], + "start_rotation": [ + 0, + 0.70784, + 0, + -0.70638 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.02811, + "euclidean_distance": 5.63233, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.08736, + 0.08441, + 10.13513 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1" + ], + "instruction": "Locate the sofa.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TK8OJTYM3OS2GB3DUZ0EKCXB68PV8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.03749, + 0.08441, + 12.33169 + ], + "start_rotation": [ + 0, + 0.8084, + 0, + -0.58863 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.55596, + "euclidean_distance": 10.03652, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.62334, + 3.48441, + 5.49729 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "3ffabcbad5894c6e8f03f54453a1e2e9", + "path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3ffabcbad5894c6e8f03f54453a1e2e9", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:369J354OFFD1AD3393158JI79RCG6E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.9811, + 0.08441, + 14.69355 + ], + "start_rotation": [ + 0, + 0.87408, + 0, + 0.48578 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 16.22978, + "euclidean_distance": 15.17404, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.15305, + 0.68441, + -0.17976 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:34Q075JO1ZG9SNRLPV0LSV4AUU701N", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.29243, + 3.55417, + 6.48893 + ], + "start_rotation": [ + 0, + 0.10515, + 0, + 0.99446 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 10.79984, + "euclidean_distance": 7.35321, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.30548, + 0.68441, + -0.32748 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:31EUONYN2X6AHGZ2YUMLPK78KU2VOU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.47415, + -2.31559, + -3.53292 + ], + "start_rotation": [ + 0, + 0.97699, + 0, + -0.21326 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 17.47389, + "euclidean_distance": 14.83177, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.30072, + -2.8246, + 9.94509 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "b0299947a912497ba3e1c8f80181f408", + "path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "instruction": "Navigate to the monitor.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ], + "refined_path": [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37M28K1J0SGCOH577M3KL1C9XRHAJE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.38756, + 0.08441, + 3.74491 + ], + "start_rotation": [ + 0, + 0.76004, + 0, + 0.64988 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.08996, + "euclidean_distance": 6.34384, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.15512, + 0.68441, + -2.16189 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "6c15ae9a3fc24613b9fcedb3da80aee5", + "path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ] + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:31HQ4X3T3UDMJ3F1R71OMGJ7NYMLS4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.2399, + -2.91559, + 15.41331 + ], + "start_rotation": [ + 0, + 0.87521, + 0, + 0.48374 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 7.66657, + "euclidean_distance": 6.28409, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.73796, + -2.91559, + 13.26766 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Go to the shower.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3JC6VJ2SADM4HIQMIKZQKRT4F2PA5J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.1431, + -2.91559, + 9.47879 + ], + "start_rotation": [ + 0, + 0.727, + 0, + 0.68664 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 10.61024, + "euclidean_distance": 9.47516, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.6926, + -2.31559, + 0.26397 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3EJJQNKU9T88WSWYLXML4EL36QLHR2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.64166, + 0.08441, + 7.60579 + ], + "start_rotation": [ + 0, + 0.99678, + 0, + 0.08019 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 22.13751, + "euclidean_distance": 4.19018, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.77712, + 3.48441, + 5.37513 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3YW4XOSQKSOP8931N2E5H2SHDHN1U2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.94695, + 0.08441, + 6.27225 + ], + "start_rotation": [ + 0, + 0.34524, + 0, + 0.93851 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.75645, + "euclidean_distance": 6.62018, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.16255, + 0.68441, + 0.36454 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3483FV8BEGMBVJVWAOGG6FO6MPT26O", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.82006, + 0.08441, + 4.10803 + ], + "start_rotation": [ + 0, + 0.27515, + 0, + 0.9614 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 7.87798, + "euclidean_distance": 4.96448, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.23648, + 0.08441, + 6.7036 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_128_newN_1", + "0_edge_128_newN_0" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "0_edge_128_newN_0" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + [ + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c3fe2f1211cf4bce8458006b7f174010", + "2b4fc2765e164775bb82e0aaf1d0d65d", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + "0_edge_128_newN_0" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3W8CV64QJ422SS0CRGMZDTLAHK59HC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.93339, + 0.68441, + -0.73829 + ], + "start_rotation": [ + 0, + 0.20038, + 0, + 0.97972 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.93039, + "euclidean_distance": 2.78803, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.49366, + 0.68441, + -3.07363 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3PPTZCWALSNUBCHSE43SZVF34DXQZX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.56271, + 0.68441, + -2.83412 + ], + "start_rotation": [ + 0, + 0.98514, + 0, + 0.17174 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 3.55616, + "euclidean_distance": 3.08265, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.44924, + 0.68441, + -0.4381 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3QUO65DNQWRA41A2T4CGTY5P6RVUOE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.77773, + 0.68441, + -1.95406 + ], + "start_rotation": [ + 0, + 0.97023, + 0, + -0.24218 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 20.66903, + "euclidean_distance": 17.37064, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.0446, + 3.48441, + 14.70624 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:39GXDJN2OVH7WOCMRDXPSYH81F78VP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.34358, + 3.00929, + 2.65245 + ], + "start_rotation": [ + 0, + 0.12907, + 0, + -0.99164 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 6.49087, + "euclidean_distance": 4.98734, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.5196, + 3.48441, + 5.85359 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "e60f96413bf448889377affdd919ba35", + "path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Find the monitor.", + "instr_encoding": [ + 101, + 2424, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3WT783CTPDKUZD4T38MUT8JKSOSCBX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.76943, + -2.31559, + -3.35412 + ], + "start_rotation": [ + 0, + 0.34743, + 0, + 0.9377 + ], + "object_category": "table", + "info": { + "geodesic_distance": 17.41225, + "euclidean_distance": 15.22203, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.93361, + -2.91559, + 11.95306 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Find the table.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3Z7EFSHGNBH1CG7U84ECI5ABUA3CXC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.99331, + 0.68441, + 1.60439 + ], + "start_rotation": [ + 0, + 0.3945, + 0, + 0.9189 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.40076, + "euclidean_distance": 4.00491, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.51026, + 0.68441, + -2.18518 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3T111IHZ5GTFHMEFNLYTRXNG4U29RA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.27191, + 0.08441, + 11.9762 + ], + "start_rotation": [ + 0, + 0.99208, + 0, + 0.12563 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 2.06821, + "euclidean_distance": 1.81653, + "closest_goal_object_id": 245, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.09901, + 0.08441, + 10.62578 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3IHR8NYAM94T83SOTYYD5UCK03Y4PY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.9388, + 0.08441, + 5.07561 + ], + "start_rotation": [ + 0, + 0.00539, + 0, + 0.99999 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.34032, + "euclidean_distance": 8.4505, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.25441, + 0.68441, + -2.8967 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3AMYWKA6YDPP2QK1XMEDDSR90EXO65", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.58385, + 0.08441, + 5.34632 + ], + "start_rotation": [ + 0, + 0.83574, + 0, + -0.54913 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 6.85555, + "euclidean_distance": 6.12947, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.1349, + 0.68441, + -0.07366 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3YDGXNSEO1X82BT77HW2J8HVP6548R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.62986, + -2.91559, + 15.12897 + ], + "start_rotation": [ + 0, + 0.76477, + 0, + 0.6443 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 3.20398, + "euclidean_distance": 1.26293, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.44242, + -2.91559, + 15.59262 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3MHW492WW2GMHDEQLE78XGI39M2VMY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.86616, + 0.08441, + 9.08246 + ], + "start_rotation": [ + 0, + 0.23926, + 0, + -0.97096 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.58394, + "euclidean_distance": 5.86763, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 3.10527, + 0.08441, + 8.91157 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "fc94c2a0445640028200b2f96e1fe90c", + "path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:324G5B4FB5BN396NEBHUT5VNXA970H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.08488, + 0.08441, + 14.22581 + ], + "start_rotation": [ + 0, + 0.57157, + 0, + 0.82055 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 19.66346, + "euclidean_distance": 17.13914, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.27834, + 0.68441, + -2.86572 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3LO69W1SU5GJTY6AW777X2042FDLGS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.10763, + 0.08441, + 14.91951 + ], + "start_rotation": [ + 0, + 0.60565, + 0, + -0.79573 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.58108, + "euclidean_distance": 14.94898, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.21553, + 0.68441, + 0.30828 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "6c58b3d5819e4ca8b896f81230477c7e", + "path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3HUTX6F6VWQ1KP10AK2ANFAXK48O2R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.78258, + 3.68441, + 10.88334 + ], + "start_rotation": [ + 0, + 0.35975, + 0, + 0.93305 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 13.76797, + "euclidean_distance": 12.03686, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7625, + 0.68441, + -0.72472 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A5A14MTB35J23:337RC3OW0752BVW5L26TX33ELFKLV2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.57499, + -2.91559, + 10.24578 + ], + "start_rotation": [ + 0, + 0.87851, + 0, + -0.47773 + ], + "object_category": "table", + "info": { + "geodesic_distance": 8.39872, + "euclidean_distance": 3.96543, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.99881, + -2.91559, + 11.87966 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:392CY0QWG3U1RH5KG38TWXB9V1QI4U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.87294, + -2.91559, + 15.05163 + ], + "start_rotation": [ + 0, + 0.99124, + 0, + -0.13207 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.80269, + "euclidean_distance": 3.11879, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.93008, + -2.91559, + 12.10977 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:31N2WW6R9TTWZUKQFHXPJV6AKLMF34", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.67834, + 3.67047, + 7.44683 + ], + "start_rotation": [ + 0, + 0.37997, + 0, + -0.925 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 1.48413, + "euclidean_distance": 1.39631, + "closest_goal_object_id": 6, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.8332, + 3.54511, + 6.06353 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EWIJTFFVQA8COLX1JV0ZFN4JYME0L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.63596, + -2.31559, + 1.04116 + ], + "start_rotation": [ + 0, + 0.29265, + 0, + -0.95622 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.85269, + "euclidean_distance": 15.16089, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.33749, + -2.91559, + 15.626 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "a55a46bc13e743ca8626a97ac056b8f3", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "0_edge_153_newN_0", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:32SVAV9L3HC1333I41BX5UVJNDK3A6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.07145, + 0.08441, + 5.8271 + ], + "start_rotation": [ + 0, + 0.9336, + 0, + 0.35832 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 24.72855, + "euclidean_distance": 10.40927, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.3601, + 3.48441, + 14.04874 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "6ecf3c792e5c48b4921e21fbb3aeff3c", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3PJ71Z61R65ROHFYPRJEL6530VT91X", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.24879, + 0.68441, + -2.6229 + ], + "start_rotation": [ + 0, + 0.41956, + 0, + 0.90773 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 11.41148, + "euclidean_distance": 8.70535, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.45978, + 3.48441, + 5.67059 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "ddb93f6063d54365bc6e8c751fd2e698", + "path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3YDTZAI2WZJQRB9M8WNN4YUNE5V14D", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.74391, + -2.91559, + 15.20039 + ], + "start_rotation": [ + 0, + 0.98915, + 0, + 0.14689 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.17431, + "euclidean_distance": 3.9108, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.73535, + -2.91559, + 13.42403 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Locate the shower.", + "instr_encoding": [ + 101, + 12453, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3DHE4R9OCYEDSCK2M1P2I61VWDC2G6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.82284, + 0.08441, + 11.80206 + ], + "start_rotation": [ + 0, + 0.16619, + 0, + -0.98609 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 17.26838, + "euclidean_distance": 14.70696, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.26286, + 0.68441, + -2.85453 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "8072791758d146aba5ff98920a81fa0c", + "path": [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "A75XDPFNICR3T:33CKWXB73LN9ZCC3LE4L60NKZRB11Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.39104, + 0.08441, + 13.57497 + ], + "start_rotation": [ + 0, + 0.88513, + 0, + 0.46534 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 14.17616, + "euclidean_distance": 13.50055, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.14917, + 0.68441, + 0.20293 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "7a663a2787474bc2b09a4e8b21325141", + "path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "AOG0PUCLMU0HH:3GS6S824SS05EKZVNPR4WXQHYVZNWI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.73207, + -2.91559, + 13.26519 + ], + "start_rotation": [ + 0, + 0.28026, + 0, + 0.95992 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 1.91726, + "euclidean_distance": 1.78304, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.33591, + -2.91559, + 14.76817 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "8c973e0dd63e490db73c44ff6959854b", + "path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3NQL1CS15TBMBU344HVJRB5AY5SYV1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.74015, + 0.08441, + 7.98186 + ], + "start_rotation": [ + 0, + 0.86825, + 0, + -0.49612 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 7.47441, + "euclidean_distance": 6.58964, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01958, + 0.08441, + 14.24125 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + [ + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:379J5II41QJL9KAJQCHJXZFS9MOLEV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.61871, + 0.08441, + 7.232 + ], + "start_rotation": [ + 0, + 0.92692, + 0, + 0.37527 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 9.18659, + "euclidean_distance": 7.60371, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.12254, + 0.68441, + -0.22123 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3OJSZ2ATDUZMYGSOBHN6A0REHOA757", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.98245, + -2.31559, + 1.99822 + ], + "start_rotation": [ + 0, + 0.9872, + 0, + 0.15951 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 9.20465, + "euclidean_distance": 5.62011, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.24699, + -2.31559, + -3.46097 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AM7FYVGVOEP66:3T111IHZ5GTFHMEFNLYTRXNG4T3R9R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.1428, + -2.91559, + 8.65335 + ], + "start_rotation": [ + 0, + 0.98827, + 0, + -0.15273 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 5.5849, + "euclidean_distance": 4.91781, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.07097, + -2.91559, + 6.02395 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "980150b99a2946a0894c33df8fb616d2", + "path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "3107120d425e424dacedb73bf44e9094", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3RJSC4XJ12X8G5S4QI2XVLHQSIL50J", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.20837, + 0.08441, + 9.44071 + ], + "start_rotation": [ + 0, + 0.23297, + 0, + -0.97248 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.05736, + "euclidean_distance": 5.06193, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.41197, + 3.50285, + 6.14301 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "b42bdeacac9d4e8d9ac4bd4500a82a51", + "path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3K4J6M3CXGW2XFF6ZGIHOOKT5CHAGH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.08001, + -2.31559, + 2.25911 + ], + "start_rotation": [ + 0, + 0.47889, + 0, + -0.87787 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 9.89896, + "euclidean_distance": 5.24964, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.71338, + -2.31559, + -3.01235 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3LOZAJ85YFGOEYFSBBP66S1QW2CX2S", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.00173, + 0.08441, + 13.47951 + ], + "start_rotation": [ + 0, + 0.43056, + 0, + -0.90256 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.59702, + "euclidean_distance": 3.21234, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.88153, + 0.08441, + 14.846 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "0_edge_186_newN_0", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "0_edge_55_newN_0", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7" + ], + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_55_newN_0", + [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A36QGCT3MMXC4Q:39O5D9O87VVPWI0GOF7OBPL81X5C3V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.24546, + 0.68441, + -0.22042 + ], + "start_rotation": [ + 0, + 0.97987, + 0, + 0.19963 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.44076, + "euclidean_distance": 2.21711, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.04023, + 0.68441, + -2.09704 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3W2LOLRXLDIZYIX6RIPIH61WB9VRK5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.1672, + 0.08441, + 15.82078 + ], + "start_rotation": [ + 0, + 0.49417, + 0, + 0.86936 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 26.69779, + "euclidean_distance": 10.33375, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.38413, + 3.49949, + 6.09842 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A272X64FOZFYLB:31HQ4X3T3UDMJ3F1R71OMGJ7NMWSLX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.75863, + 0.68441, + -2.02677 + ], + "start_rotation": [ + 0, + 0.99996, + 0, + 0.0091 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.28288, + "euclidean_distance": 16.32262, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.40423, + 3.48852, + 13.91889 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:31IBVUNM9U2GB3M9ZR3V2QYUP0NFVF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.81595, + 0.08441, + 10.7343 + ], + "start_rotation": [ + 0, + 0.30907, + 0, + -0.95104 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 23.81451, + "euclidean_distance": 7.504, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.58847, + 3.48441, + 5.66303 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_128_newN_0", + "path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:32SVAV9L3HC1333I41BX5UVJLTTA3G", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.94704, + 0.08441, + 9.87956 + ], + "start_rotation": [ + 0, + 0.2256, + 0, + 0.97422 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 9.20361, + "euclidean_distance": 4.84326, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.20288, + 0.08441, + 14.39846 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Go to the cabinet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:34Z02EIMIUGA173UREKVY1N5MEI0TI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.24798, + 3.48441, + 14.9728 + ], + "start_rotation": [ + 0, + 0.80778, + 0, + -0.58948 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.31428, + "euclidean_distance": 15.9025, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.9265, + 0.68441, + -0.67615 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "e611700e04a24c3dabb73b0b000e5589", + "path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:34Q075JO1ZG9SNRLPV0LSV49GBN10M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.95147, + 0.08441, + 12.30333 + ], + "start_rotation": [ + 0, + 0.45095, + 0, + -0.89255 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.99492, + "euclidean_distance": 9.36422, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.62751, + 3.48441, + 5.52074 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:32Q90QCQ1UOAPES15C5IIZ2DX77EKS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.8347, + -2.91559, + 11.42518 + ], + "start_rotation": [ + 0, + 0.19899, + 0, + -0.98 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.12725, + "euclidean_distance": 2.42982, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71767, + -2.91559, + 13.32228 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3OVHNO1VE840M3DN9IX8ZW84LXWDZ1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.0908, + 0.33895, + 4.18911 + ], + "start_rotation": [ + 0, + 0.76421, + 0, + 0.64496 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 17.65928, + "euclidean_distance": 5.54895, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.75138, + 3.48441, + 5.38678 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3GFK2QRXXBK1OVTPJPVI2GQV7L15WY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.52133, + -2.91559, + 6.17254 + ], + "start_rotation": [ + 0, + 0.93279, + 0, + -0.36042 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 8.76445, + "euclidean_distance": 6.5513, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.57219, + -2.31559, + -0.16657 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3X73LLYYQ3HNHU46SQ54VUGUM6NNHK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.97291, + 3.48441, + 3.1216 + ], + "start_rotation": [ + 0, + 0.01487, + 0, + 0.99989 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 4.37073, + "euclidean_distance": 3.37278, + "closest_goal_object_id": 68, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.59498, + 3.48441, + 5.3441 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "e60f96413bf448889377affdd919ba35", + "path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3K5TEWLKGXE0LUOZ0Z9G5NBM5YYVIH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.98618, + -2.91559, + 10.20609 + ], + "start_rotation": [ + 0, + 0.52566, + 0, + -0.8507 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.15201, + "euclidean_distance": 10.14594, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64557, + -2.31559, + 0.316 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ] + ] + }, + { + "episode_id": "AQ0YWEW29GSIJ:3P529IW9K0ODFYAFLN1PFH0SLQHFLR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.43114, + -2.31559, + -2.99753 + ], + "start_rotation": [ + 0, + 0.2732, + 0, + -0.96196 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 6.02589, + "euclidean_distance": 4.64715, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.84521, + -2.31559, + 0.01028 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3634BBTX0QXBPX290K4CN180HX4IFW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.15566, + 3.48441, + 9.2341 + ], + "start_rotation": [ + 0, + 0.97479, + 0, + 0.22312 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.33505, + "euclidean_distance": 5.92472, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.86728, + 3.48441, + 14.81704 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32" + ], + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A1C8FN01981A69:36AHBNMV1TF0HD3IDWVPLPZ3Y2RDYS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.16784, + 0.08441, + 12.58799 + ], + "start_rotation": [ + 0, + 0.37198, + 0, + 0.92824 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.80419, + "euclidean_distance": 11.17533, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.37895, + 3.48441, + 3.39544 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "59d2f40b1fbf4784b2b661f05a439fad", + "path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + ] + }, + { + "episode_id": "A39EZ7V9T25RZO:3QRYMNZ7F0KDM3V1SKMT9DJIHUTNTD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.1132, + -2.31559, + -3.44116 + ], + "start_rotation": [ + 0, + 0.38334, + 0, + -0.92361 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.13982, + "euclidean_distance": 2.92547, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.72395, + -2.31559, + -3.25985 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "126fdbcf213d4d5d95674ccba62fc72b", + "path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:36H9ULYP64X7K8MFI2PCZ2N0UESFJ8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.85335, + 3.56093, + 5.80362 + ], + "start_rotation": [ + 0, + 0.9779, + 0, + 0.20905 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.24381, + "euclidean_distance": 7.94729, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.79825, + 0.68441, + -0.71815 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3CP1TO84PV4FCFVI556BE9A662M258", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.13304, + -2.91559, + 15.737 + ], + "start_rotation": [ + 0, + 0.54569, + 0, + -0.83799 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.51757, + "euclidean_distance": 3.6889, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.33642, + -2.91559, + 15.55166 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A3C7COPV48I37D:3ZWFC4W1UWAOIW5SQ7YL1T9QOZHFRL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.61474, + -2.31559, + 0.11984 + ], + "start_rotation": [ + 0, + 0.15176, + 0, + 0.98842 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.54484, + "euclidean_distance": 5.28427, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.72354, + -2.31559, + -3.01302 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "f0307e707d50446097021ce802f44a4e", + "path": [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "a55a46bc13e743ca8626a97ac056b8f3", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "3107120d425e424dacedb73bf44e9094", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "refined_path": [ + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ] + }, + { + "episode_id": "A3L8LSM7V7KX3T:317HQ483I9VNDPFQY8NPV6H9I8XNII", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.57105, + -2.91559, + 13.47581 + ], + "start_rotation": [ + 0, + 0.67022, + 0, + -0.74216 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.2438, + "euclidean_distance": 1.93088, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.81181, + -2.91559, + 12.07008 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "8c973e0dd63e490db73c44ff6959854b", + "path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3E337GFOLBB9HY9V8KNMAU4SQT2NG4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.52151, + 0.68441, + 0.1046 + ], + "start_rotation": [ + 0, + 0.9298, + 0, + -0.36806 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 21.72771, + "euclidean_distance": 15.90333, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.02295, + 3.48441, + 14.76475 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "a6ce5d580416478b847a83a2c537a637", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:3CCZ6YKWR9MQCZGHQELQOWIK9E095K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.11431, + 3.57753, + 6.76678 + ], + "start_rotation": [ + 0, + 0.27227, + 0, + 0.96222 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 9.98966, + "euclidean_distance": 7.57729, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.2872, + 0.68441, + -0.30471 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:36U2A8VAG328VJ9S5DHCP2UTIBYKYM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.46955, + 0.08441, + 13.8161 + ], + "start_rotation": [ + 0, + 0.67379, + 0, + -0.73892 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 4.73303, + "euclidean_distance": 3.99223, + "closest_goal_object_id": 208, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.22514, + 0.08441, + 15.13127 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3Q5C1WP23O48NUDMM16X9Q01YR715Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.80697, + -2.91559, + 6.23877 + ], + "start_rotation": [ + 0, + 0.02212, + 0, + 0.99976 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.33597, + "euclidean_distance": 5.79304, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.72673, + -2.91559, + 11.5916 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "0_edge_196_newN_0", + "e10d6b636ed94caa87771f92b1251868", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3300DTYQT4KW0HQWIHPFELEMW8REQ2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.17119, + 0.08441, + 13.93614 + ], + "start_rotation": [ + 0, + 0.68168, + 0, + 0.73165 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 5.03514, + "euclidean_distance": 4.47227, + "closest_goal_object_id": 208, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.83682, + 0.08441, + 16.08161 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "03a8325e3b054e3fad7e1e7091f9d283", + "path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + [ + "03a8325e3b054e3fad7e1e7091f9d283" + ], + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A3V8LIMUUJWUTL:33LKR6A5KGNA8WOCNXOVC66EDHLT1H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.49346, + 3.48441, + 9.29953 + ], + "start_rotation": [ + 0, + 0.99125, + 0, + -0.13201 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 7.13098, + "euclidean_distance": 5.52611, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37298, + 3.48441, + 14.00373 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "571d716b0cdd430d99c63474c34f0c9c", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A12PUQIBXRBOXV:3LPW2N6LKV5OWR4KOPGHKS5YLII5UG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.07682, + 0.08441, + 8.94409 + ], + "start_rotation": [ + 0, + 0.86487, + 0, + 0.50199 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.35979, + "euclidean_distance": 2.02108, + "closest_goal_object_id": 242, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99085, + 0.08441, + 9.30648 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3X4MXAO0BIRQTIRNGW8L5HVQLE6RWK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.35935, + 0.08441, + 13.59718 + ], + "start_rotation": [ + 0, + 0.9451, + 0, + 0.32677 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 24.78151, + "euclidean_distance": 9.1422, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.6983, + 3.48441, + 5.39508 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3KB8R4ZV1GA7GPKY5UIDJZ4ZQGBBGX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.17583, + 0.08441, + 6.287 + ], + "start_rotation": [ + 0, + 0.50303, + 0, + -0.86427 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 19.09801, + "euclidean_distance": 3.42795, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.60343, + 3.48907, + 6.07687 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_190_newN_0", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "a6ce5d580416478b847a83a2c537a637", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3ITXP059PYMGODR1OMPB616FM1FJSL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.53594, + -0.27519, + 2.80923 + ], + "start_rotation": [ + 0, + 0.5644, + 0, + 0.8255 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.44345, + "euclidean_distance": 2.90459, + "closest_goal_object_id": 463, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43882, + -2.31559, + 0.98624 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "04e0d7506a0849009fabf4c10fa74a40", + "path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40" + ], + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3EJPLAJKEOJ11UY8ZVPUTQYDN656Z9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.28336, + 0.52355, + 2.99012 + ], + "start_rotation": [ + 0, + 0.45433, + 0, + 0.89083 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.49464, + "euclidean_distance": 5.19594, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.18031, + 0.68441, + -2.16187 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "541ab4e8ff1f4bc8bf20775a1fb38872", + "path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A3LRZX8477TYYZ:3GM6G9ZBKP074LA1GJ7TWYUHBS3TMC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.53334, + 3.68441, + 10.49086 + ], + "start_rotation": [ + 0, + 0.8386, + 0, + -0.54474 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 4.55457, + "euclidean_distance": 3.83096, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.07115, + 3.48441, + 13.91184 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_113_newN_0", + "path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Navigate to the cabinet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3EICBYG646Z0HW25R0ZBRW2XX64JCF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.67961, + -2.91559, + 8.88412 + ], + "start_rotation": [ + 0, + 0.9457, + 0, + -0.32503 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 9.10499, + "euclidean_distance": 8.63632, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.66157, + -2.31559, + 0.27548 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_181_newN_1", + "path": [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3NS0A6KXC6B3YNNEB8YG5HB2EJ5ZGW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.76915, + -2.78191, + 7.17593 + ], + "start_rotation": [ + 0, + 0.46848, + 0, + -0.88348 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.30056, + "euclidean_distance": 2.5194, + "closest_goal_object_id": 376, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -5.35107, + -2.90935, + 9.24093 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3YMTUJH0DUJR0VLVAF7XA4DI3KW4TO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.11007, + 0.08441, + 3.60885 + ], + "start_rotation": [ + 0, + 0.28215, + 0, + 0.95937 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 13.55573, + "euclidean_distance": 12.86132, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.89232, + 0.08441, + 14.99895 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "6c15ae9a3fc24613b9fcedb3da80aee5", + "path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + [ + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3APKUC67F9IMW:36DSNE9QZ711QLZ8H582MWWEPB5JOF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.7795, + 0.08441, + 6.62127 + ], + "start_rotation": [ + 0, + 0.43441, + 0, + 0.90072 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 20.70348, + "euclidean_distance": 3.56294, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.61024, + 3.48441, + 5.6522 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0_edge_65_newN_1", + "path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the towel.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2J5DN5UMU0A3Z:38BQUHLA9Y3RRT5TK2LU2OOVQ8EOM5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.84885, + 0.08441, + 7.26486 + ], + "start_rotation": [ + 0, + 0.5827, + 0, + -0.81269 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 22.62548, + "euclidean_distance": 7.35282, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.55636, + 3.48441, + 5.61921 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "0927e4d3dc3e4c8590fd3f7dc512a130", + "path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33C7UALJVN1RACWOKZD0LAASDZY184", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.98186, + -2.91559, + 6.94463 + ], + "start_rotation": [ + 0, + 0.66155, + 0, + -0.7499 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.73494, + "euclidean_distance": 5.20322, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.71728, + -2.91559, + 11.59448 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3QIYRE09Y5KCDJJSQ12J370N5LP1N5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.87218, + 3.49772, + 8.5195 + ], + "start_rotation": [ + 0, + 0.74755, + 0, + -0.6642 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.57348, + "euclidean_distance": 9.96309, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.86436, + 0.68441, + -0.63999 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3ERMJ6L4D0VK6NDU3G4SR22ZK8S7MI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.43905, + -2.31559, + 1.46845 + ], + "start_rotation": [ + 0, + 0.99979, + 0, + 0.02071 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.9001, + "euclidean_distance": 4.09792, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.05574, + -2.31559, + -2.37632 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3XLBSAQ9Z6FK5UCDI5UMZ4Y9IGB7ZT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.82324, + 0.08441, + 15.86786 + ], + "start_rotation": [ + 0, + 0.16306, + 0, + 0.98662 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 28.81655, + "euclidean_distance": 10.60512, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.49706, + 3.49629, + 6.10925 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:34T446B1C2HTFQ1J5SP59RN1YX0C03", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.22847, + -2.31559, + -0.88331 + ], + "start_rotation": [ + 0, + 0.98381, + 0, + 0.17921 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 4.24399, + "euclidean_distance": 4.02603, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.56753, + -2.31559, + -3.03674 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "a55a46bc13e743ca8626a97ac056b8f3", + "path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "c6a181682e8f4c55b27287031ed7ddcd", + "3107120d425e424dacedb73bf44e9094" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "refined_path": [ + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:340UGXU9D045ULJZUGYUOQZX2GCVUT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.71487, + 0.08441, + 6.09119 + ], + "start_rotation": [ + 0, + 0.69689, + 0, + -0.71718 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 1.8079, + "euclidean_distance": 1.71736, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.47745, + 0.08441, + 7.40175 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ], + "refined_path": [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3EG49X351WFCWZYTYD19W5I1WHJ6XP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.95961, + 3.57508, + 6.07858 + ], + "start_rotation": [ + 0, + 0.7001, + 0, + 0.71405 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 11.36464, + "euclidean_distance": 8.2252, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.8485, + 0.68441, + -0.68015 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "c5f2bf41ad33497a925bead423cbfb19", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3OB0CAO74JSHTT8KZSEFCAE072OYHL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.96178, + 0.09241, + 6.26575 + ], + "start_rotation": [ + 0, + 0.96752, + 0, + -0.25278 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 21.06007, + "euclidean_distance": 7.18363, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.05297, + 0.08441, + 10.15788 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "cc25797eeb974e54ae3f1fc30e0d19ef", + "path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3H7Z272LX9AP6BZ9ZQXURBEW36SPLS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.73363, + 3.68441, + 10.93205 + ], + "start_rotation": [ + 0, + 0.54814, + 0, + 0.83639 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 24.83564, + "euclidean_distance": 3.7152, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.0581, + 0.08441, + 10.14787 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3TMSXRD2X8320DS6I2T6ZQDEINX1W0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.65173, + 3.48861, + 6.02112 + ], + "start_rotation": [ + 0, + 0.50052, + 0, + -0.86573 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 22.11276, + "euclidean_distance": 5.98794, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.11257, + 0.08441, + 9.99482 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3VNXK88KKEL7ATVWW533SUCJM889V9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.84117, + -2.91559, + 12.48075 + ], + "start_rotation": [ + 0, + 0.63962, + 0, + -0.76869 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 14.80772, + "euclidean_distance": 12.82918, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.77622, + -2.31559, + 0.29099 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3JRJSWSMQJO4TGKUK6DJ1DLA8SK3E3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.1044, + 0.68441, + 0.14927 + ], + "start_rotation": [ + 0, + 0.40947, + 0, + -0.91232 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 2.79789, + "euclidean_distance": 2.58391, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.13024, + 0.68441, + -1.98573 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_131_newN_1", + "path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3TOK3KHVJVL86QY6GWJ5J6R5YFQ7OF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.08313, + 0.08441, + 11.54366 + ], + "start_rotation": [ + 0, + 0.60952, + 0, + 0.79277 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 16.98149, + "euclidean_distance": 14.46362, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.28353, + 0.68441, + -2.91858 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "8072791758d146aba5ff98920a81fa0c", + "path": [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c" + ], + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:37FMASSAYEULCGQTVIIG4BHEMYYBI9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.06629, + 0.68441, + -2.6521 + ], + "start_rotation": [ + 0, + 0.24038, + 0, + -0.97068 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 21.34184, + "euclidean_distance": 17.91286, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.02399, + 3.48441, + 14.78301 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3HOSI13XH1RXJ28RH08B84P2DFHDDF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.69981, + 3.68441, + 11.14953 + ], + "start_rotation": [ + 0, + 0.54874, + 0, + 0.836 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 6.03066, + "euclidean_distance": 5.12556, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.94032, + 3.48441, + 14.85153 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3LQ8PUHQFNVV3TTFVASCQMKDXERHI7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.45468, + -1.13487, + 1.73694 + ], + "start_rotation": [ + 0, + 0.03516, + 0, + -0.99938 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 7.6971, + "euclidean_distance": 4.75375, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.82684, + -2.91559, + 5.31379 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "3264da900f47425c8c062f909db9abe0", + "path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "refined_path": [ + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ] + ] + }, + { + "episode_id": "A3O5RKGH6VB19C:3I2PTA7R3VXZMHI6E30ICGRRGOFKQM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.16945, + 0.08441, + 8.04782 + ], + "start_rotation": [ + 0, + 0.98478, + 0, + -0.1738 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.34025, + "euclidean_distance": 7.69505, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.56489, + 3.49552, + 6.12733 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "instruction": "Locate the bed.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3B2X28YI3YI5JWVSTH9R78RAW2ZB6M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.13627, + 0.08441, + 8.47978 + ], + "start_rotation": [ + 0, + 0.06916, + 0, + 0.99761 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.68123, + "euclidean_distance": 4.90141, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43872, + 3.49905, + 6.11486 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_195_newN_3", + "path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "a6ce5d580416478b847a83a2c537a637", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ], + "refined_path": [ + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:3KAKFY4PGW5G9LMGGP3AMSJ20K6I34", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.0569, + -2.31559, + 2.1784 + ], + "start_rotation": [ + 0, + 0.92565, + 0, + 0.37837 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 18.89783, + "euclidean_distance": 13.67753, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.28243, + -2.91559, + 15.432 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3YW4XOSQKSOP8931N2E5H2SGW001UY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.03974, + 0.31884, + 4.25626 + ], + "start_rotation": [ + 0, + 0.63572, + 0, + -0.77192 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 17.70516, + "euclidean_distance": 5.50605, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67386, + 3.48441, + 5.44785 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "187589bb7d4644f2943079fb949c0be9", + "path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SB5N7Y3O576W2HO7ELOZI8GWPM0GV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.0678, + -2.31559, + 2.15878 + ], + "start_rotation": [ + 0, + 0.43864, + 0, + 0.89866 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 8.90312, + "euclidean_distance": 5.16825, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.52395, + -2.31559, + -3.04232 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3WR9XG3T65E42XOOXC4W58L0ESM473", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.31192, + 3.48441, + 13.85835 + ], + "start_rotation": [ + 0, + 0.16988, + 0, + -0.98546 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 17.16392, + "euclidean_distance": 14.38252, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.39441, + 0.68441, + -0.30079 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GD6L00D3U06V1YSE0NJQSBMJELM1F", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.54752, + 0.08441, + 7.49854 + ], + "start_rotation": [ + 0, + 0.11577, + 0, + -0.99328 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 26.11266, + "euclidean_distance": 8.07062, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.93609, + 3.48441, + 14.77413 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3BWI6RSP7ICMUZLHMIG9EUXRRBTE7K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.46851, + 0.08441, + 7.49284 + ], + "start_rotation": [ + 0, + 0.83812, + 0, + -0.54549 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 26.72344, + "euclidean_distance": 8.30561, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.35424, + 3.48441, + 14.06347 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:31JLPPHS2WXQ57XJEKGF6PFOCPP3OW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.7998, + -2.31559, + 0.10388 + ], + "start_rotation": [ + 0, + 0.99305, + 0, + -0.11771 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.51173, + "euclidean_distance": 2.38882, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.07187, + -2.31559, + -2.38349 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A35CL66BEUSJ5Z:3EJJQNKU9T88WSWYLXML4EL4N54HRY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.45851, + 0.08441, + 8.58825 + ], + "start_rotation": [ + 0, + 0.50945, + 0, + 0.8605 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.98233, + "euclidean_distance": 11.24676, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.05356, + 0.68441, + -2.17349 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37UQDCYH6ZY3WA73H85JEYLCBHGV7V", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.59337, + -2.71986, + 7.39206 + ], + "start_rotation": [ + 0, + 0.99551, + 0, + -0.0946 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 11.14443, + "euclidean_distance": 9.14196, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.69353, + -2.31559, + 0.33399 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "3107120d425e424dacedb73bf44e9094", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:33OOO72IVJOUVZYA3UDFT2P5HKDCT3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.82297, + 0.08441, + 4.38923 + ], + "start_rotation": [ + 0, + 0.84106, + 0, + -0.54095 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.83966, + "euclidean_distance": 3.85577, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.52552, + 3.48708, + 5.73964 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "e8e2d73795e54b6db89cd32745e79fb9", + "path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:3KGTPGBS6ZOWXULX66EJML2LO0QU28", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.52086, + 0.08441, + 10.56101 + ], + "start_rotation": [ + 0, + 0.73598, + 0, + -0.677 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 12.37077, + "euclidean_distance": 7.75241, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.90376, + 0.08441, + 14.88868 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "instruction": "Find the seating.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0" + ], + "649a58719cd7455ebe18675c9719dfa7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d" + ], + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ] + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3R6P78PK7ME7CBEF5G9YJTALT0OTG5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.38611, + -2.91559, + 6.96545 + ], + "start_rotation": [ + 0, + 0.58802, + 0, + 0.80884 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 9.83154, + "euclidean_distance": 8.08965, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.77174, + -2.31559, + 0.19863 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "e10d6b636ed94caa87771f92b1251868", + "path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:374TNBHA8DYU6M7NII19LO62HI2QYY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.07031, + 0.08441, + 14.75509 + ], + "start_rotation": [ + 0, + 0.22624, + 0, + 0.97407 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 15.36355, + "euclidean_distance": 14.62215, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.25893, + 0.68441, + 0.40389 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "0_edge_164_newN_1", + "path": [ + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "0_edge_164_newN_1", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3907X2AHF28J5PD1PKFPCFFNX2SP2M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.39943, + 0.08441, + 8.81263 + ], + "start_rotation": [ + 0, + 0.82657, + 0, + -0.56284 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.4416, + "euclidean_distance": 6.00195, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.10078, + 0.08441, + 14.28398 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "fc94c2a0445640028200b2f96e1fe90c", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A272X64FOZFYLB:34Z02EIMIUGA173UREKVY1N48T20TG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.4463, + -2.91559, + 13.06684 + ], + "start_rotation": [ + 0, + 0.99884, + 0, + 0.04813 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.19379, + "euclidean_distance": 5.09044, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.37986, + -2.91559, + 14.679 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3GA6AFUKOQRGDQBWA7LPMGIOHOL3H7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.34907, + 0.08441, + 12.98809 + ], + "start_rotation": [ + 0, + 0.66283, + 0, + 0.74877 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.20191, + "euclidean_distance": 5.40957, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.39612, + 0.08441, + 7.88155 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "24df7bedfc814d7e9bd610171c862f7a", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + }, + { + "episode_id": "A7XL1V3G7C2VV:3C44YUNSI3S68ZBHM9Z68Y6QDBYDPH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.45291, + 0.08441, + 4.45649 + ], + "start_rotation": [ + 0, + 0.81722, + 0, + 0.57633 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.98517, + "euclidean_distance": 10.55092, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.37899, + 3.48441, + 13.95311 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3KXIR214I6JXGWRIR0N19H4S35242B", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.00965, + -2.31559, + -0.00058 + ], + "start_rotation": [ + 0, + 0.12375, + 0, + 0.99231 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 3.71608, + "euclidean_distance": 2.5261, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.17129, + -2.31559, + -2.34595 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b" + ] + }, + { + "episode_id": "A3FSDH6HUZPNQ8:3LOTDFNYA92TQSMEP18ROSH8JVMWFY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.78825, + -2.91559, + 10.13391 + ], + "start_rotation": [ + 0, + 0.69344, + 0, + -0.72052 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.73943, + "euclidean_distance": 7.04176, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.57177, + -2.91559, + 16.00029 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3U84XHCDIEGNM7UUG7WFWSEZRJGZ46", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.36006, + 3.60357, + 7.25152 + ], + "start_rotation": [ + 0, + 0.62816, + 0, + -0.77808 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 10.29058, + "euclidean_distance": 8.70338, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.69258, + 0.68441, + -0.77457 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:32VNZTT0A97EKG836Q22APC0IYM4RZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -7.26122, + 0.08441, + 6.61095 + ], + "start_rotation": [ + 0, + 0.77541, + 0, + 0.63146 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 22.19646, + "euclidean_distance": 8.76483, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.65033, + 0.08441, + 7.34047 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "a6ce5d580416478b847a83a2c537a637", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "instruction": "Go to the cushion.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "fc4462fb87874bc8b6d77e45806168df", + "0_edge_80_newN_1", + [ + "fc4462fb87874bc8b6d77e45806168df", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ] + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3MB8LZR5BHWOVK2TMYSMVUSX6SWLKM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.99668, + 0.08441, + 6.62443 + ], + "start_rotation": [ + 0, + 0.21163, + 0, + -0.97735 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 27.2514, + "euclidean_distance": 8.81807, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.45263, + 3.48441, + 14.00042 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "1e649cc84c9043b69e2367b7d5aeecf2", + "path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "0_edge_55_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the bathtub.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "0_edge_55_newN_1", + [ + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2KOR4003SVNC5:3WAKVUDHUYJ3JVI3CIVEICJUDZF7UM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.41321, + -2.15502, + 1.35292 + ], + "start_rotation": [ + 0, + 0.20115, + 0, + 0.97956 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 10.03472, + "euclidean_distance": 5.63107, + "closest_goal_object_id": 419, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.17304, + -2.91559, + 5.06854 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3GFK2QRXXBK1OVTPJPVI2GQVADG5W0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.37547, + 0.08441, + 2.38473 + ], + "start_rotation": [ + 0, + 0.96967, + 0, + -0.24443 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.49256, + "euclidean_distance": 4.29405, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.15254, + 0.68441, + -0.05788 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1WU3UZ1IJIMUI:3FE7TXL1LKQ451EGPXUECK5XZY92QI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.62312, + 0.08441, + 14.75405 + ], + "start_rotation": [ + 0, + 0.71284, + 0, + -0.70133 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 17.9215, + "euclidean_distance": 17.26034, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.12149, + 0.68441, + -2.16708 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "6c58b3d5819e4ca8b896f81230477c7e", + "path": [ + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:34S9DKFK75S93PUV2Q9SHUBXC6BYND", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.27201, + -2.91559, + 14.06223 + ], + "start_rotation": [ + 0, + 0.98805, + 0, + 0.15412 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.77216, + "euclidean_distance": 6.14163, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.50804, + -2.91559, + 16.08912 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0_edge_160_newN_0", + "path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ], + "refined_path": [ + "0_edge_160_newN_0", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:39LOEL67OU8NKFA373RJ93PPBCH38P", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.18958, + 0.68441, + 0.05583 + ], + "start_rotation": [ + 0, + 0.74799, + 0, + 0.66371 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 13.77413, + "euclidean_distance": 7.18403, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.65616, + 3.48441, + 5.62901 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "76c9116d417849c6be0f37a8b353e0d8", + "path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the towel.", + "instr_encoding": [ + 101, + 12453, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3MMN5BL1W17254C71412ELQKYCR3MR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.63205, + -2.31559, + 1.49331 + ], + "start_rotation": [ + 0, + 0.54487, + 0, + -0.83852 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 19.68626, + "euclidean_distance": 14.46836, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.29024, + -2.91559, + 15.61726 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + [ + "ad2772104c144a579f0a43503cb4c86b" + ], + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3NS0A6KXC6B3YNNEB8YG5HB1YQ0ZGN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.31516, + -2.91559, + 7.1501 + ], + "start_rotation": [ + 0, + 0.78746, + 0, + 0.61636 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.26296, + "euclidean_distance": 10.71817, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.25776, + -2.31559, + -3.46097 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "de68d1221d1749b392aff06c48512cf0", + "path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "3107120d425e424dacedb73bf44e9094", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the stool.", + "instr_encoding": [ + 101, + 12453, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AK35CJJEYFVYK:34QN5IT0T1UR3NB6OG9075RHSOE082", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.79977, + -2.51559, + 13.58717 + ], + "start_rotation": [ + 0, + 0.18403, + 0, + -0.98292 + ], + "object_category": "table", + "info": { + "geodesic_distance": 1.02039, + "euclidean_distance": 0.92002, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.3701, + -2.91559, + 12.90138 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A2DDPSXH2X96RF:3X0H8UUIT3R2UXR0VL8QVR0M54MWSK", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.27598, + 3.48441, + 5.51402 + ], + "start_rotation": [ + 0, + 0.91589, + 0, + 0.40142 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 7.25028, + "euclidean_distance": 6.55403, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.41344, + 0.7814, + -0.36791 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "path": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3PPTZCWALSNUBCHSE43SZVF341IZQ3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.12841, + 0.08441, + 4.53696 + ], + "start_rotation": [ + 0, + 0.07321, + 0, + 0.99732 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.60212, + "euclidean_distance": 3.30853, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.43061, + 0.08441, + 6.3724 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "6c15ae9a3fc24613b9fcedb3da80aee5", + "path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3FIJLY1B6W736JPDDFUWWY9BNBVFPJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.16161, + 3.55263, + 6.93336 + ], + "start_rotation": [ + 0, + 0.76557, + 0, + 0.64335 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.89238, + "euclidean_distance": 6.4619, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.26152, + 0.08441, + 5.92932 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3IKZ72A5B6J33YD0X0H4S94H6QQNF0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.194, + -2.91559, + 14.95367 + ], + "start_rotation": [ + 0, + 0.07266, + 0, + 0.99736 + ], + "object_category": "table", + "info": { + "geodesic_distance": 4.24175, + "euclidean_distance": 3.94982, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.85424, + -2.91559, + 12.08586 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "36127c5e30e644799c0f1a1ecd4381ca", + "path": [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "e345211511824219a62f1b8d639c477e", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39GHHAVOMHUXMSPQYLTT8YQ95TCJ4R", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.41409, + -2.91559, + 7.84898 + ], + "start_rotation": [ + 0, + 0.79137, + 0, + -0.61134 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 8.62822, + "euclidean_distance": 5.58111, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.67809, + -2.91559, + 13.2989 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "de68d1221d1749b392aff06c48512cf0", + "path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "A2DWSKGD9RNKMJ:3F0BG9B9MRQK0428MJS3LXP7CRQ7YV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.61853, + 0.68441, + 2.36003 + ], + "start_rotation": [ + 0, + 0.31192, + 0, + 0.95011 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 11.96246, + "euclidean_distance": 4.10196, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.64995, + 3.48441, + 5.4681 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "541ab4e8ff1f4bc8bf20775a1fb38872", + "path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1NLDZ3T0S2CX:39OWYR0EPMUXFXHE42QF9P2O7NIFYT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.5714, + 3.48441, + 15.39038 + ], + "start_rotation": [ + 0, + 0.00376, + 0, + -0.99999 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 28.50318, + "euclidean_distance": 6.30782, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.06015, + 0.08441, + 9.97664 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "45af9f44b1d041159dd1ded3c28e8457", + "path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0" + ], + "instruction": "Find the sofa.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "refined_path": [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ] + ] + }, + { + "episode_id": "A34CQE6RGU49L7:3K772S5NPAEJNORTZR2L57ML8HJEHP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.72168, + -2.31559, + 2.37519 + ], + "start_rotation": [ + 0, + 0.58667, + 0, + 0.80983 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 8.13111, + "euclidean_distance": 3.71006, + "closest_goal_object_id": 419, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.35071, + -2.91559, + 5.0135 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:33FOTY3KEOOTMFM11BT5NW6B6D11C5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.61249, + -2.31559, + 0.94701 + ], + "start_rotation": [ + 0, + 0.0876, + 0, + -0.99616 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.02967, + "euclidean_distance": 7.74258, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.73116, + -2.91559, + 8.77856 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:379J5II41QJL9KAJQCHJXZFSPZKELQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.05882, + 3.48441, + 16.52582 + ], + "start_rotation": [ + 0, + 0.77687, + 0, + -0.62966 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 14.80458, + "euclidean_distance": 12.16107, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.15335, + 3.48441, + 4.39425 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "e611700e04a24c3dabb73b0b000e5589", + "path": [ + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Find the picture.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3HUTX6F6VWQ1KP10AK2ANFAXK96O2Z", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.65352, + 3.48441, + 5.52926 + ], + "start_rotation": [ + 0, + 0.9373, + 0, + -0.34852 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 2.89471, + "euclidean_distance": 2.12944, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.22441, + 3.48441, + 4.5691 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "87f68627d919449995ed93f6ae72e6ab", + "path": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + [ + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:386PBUZZXH0TK0WB4DSAUFSKRFHJLU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.58467, + -2.91559, + 16.50148 + ], + "start_rotation": [ + 0, + 0.87821, + 0, + 0.47828 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 17.37239, + "euclidean_distance": 16.43477, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.81492, + -2.31559, + 0.22463 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3SEPORI8WP22OWABP8669V0ZGV0AZH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.05141, + 0.68441, + -1.34589 + ], + "start_rotation": [ + 0, + 0.46818, + 0, + 0.88363 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 12.98013, + "euclidean_distance": 7.64442, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.78345, + 3.48441, + 5.35958 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_168_newN_0", + "path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the clothes.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3RSDURM96CP59JHI9R69R7HOYAFYEL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.87031, + -2.91559, + 11.99029 + ], + "start_rotation": [ + 0, + 0.44085, + 0, + -0.89758 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 3.95612, + "euclidean_distance": 3.30206, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.7649, + -2.91559, + 8.78989 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_153_newN_0", + "path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3EG49X351WFCWZYTYD19W5I2F5T6XW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.01014, + -2.31559, + -3.83873 + ], + "start_rotation": [ + 0, + 0.9715, + 0, + -0.23702 + ], + "object_category": "table", + "info": { + "geodesic_distance": 16.84415, + "euclidean_distance": 15.98187, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.01114, + -2.91559, + 11.94711 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "7b99fad7a2b243dea6b50dc65d03fbc7", + "path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "de87c39b7dd046bda1f0819c53670338" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338" + ], + "refined_path": [ + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3NPFYT4IZE7ETSNZAQAV8WVQQY0XG2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.90656, + -2.31559, + 0.89323 + ], + "start_rotation": [ + 0, + 0.75547, + 0, + 0.65518 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 19.4859, + "euclidean_distance": 9.31783, + "closest_goal_object_id": 368, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -6.36364, + -2.84612, + 10.01306 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3107120d425e424dacedb73bf44e9094", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0" + ], + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1" + ], + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A1198W1SPF1R4:3O7L7BFSHGSJJJ2D59K65JN0536IE9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.35339, + -2.91559, + 10.07629 + ], + "start_rotation": [ + 0, + 0.01397, + 0, + 0.9999 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 6.40008, + "euclidean_distance": 3.40667, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.76218, + -2.91559, + 13.32092 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "3678af49806f4220b821c23d4ec3d33b", + "path": [ + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Navigate to the shower.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A19C2SO0IMRZ1L:3MYYFCXHJ5ANVQZPQF8QBLYTDPXG4Y", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.95394, + 0.08441, + 8.59661 + ], + "start_rotation": [ + 0, + 0.827, + 0, + 0.5622 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 11.70002, + "euclidean_distance": 11.11621, + "closest_goal_object_id": 122, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.15137, + 0.68441, + -2.18286 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "c3fe2f1211cf4bce8458006b7f174010", + "path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3II4UPYCOLAR8BCWMMEV83W1WQNDQT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.14714, + 0.08441, + 8.03071 + ], + "start_rotation": [ + 0, + 0.43001, + 0, + -0.90282 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 8.72685, + "euclidean_distance": 8.03796, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.93746, + 0.08441, + 15.02228 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_190_newN_1", + "path": [ + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "refined_path": [ + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ] + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3T111IHZ5GTFHMEFNLYTRXNG1VIR97", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.34308, + -2.91559, + 13.97564 + ], + "start_rotation": [ + 0, + 0.19158, + 0, + 0.98148 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 10.08722, + "euclidean_distance": 9.55281, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.03244, + -2.91559, + 6.01872 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "3107120d425e424dacedb73bf44e9094", + "91b54e8895bf4d63922b5ef7ea839d4c", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + [ + "d962509cdba64e6ca76a6228582eb901" + ] + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3907X2AHF28J5PD1PKFPCFFNUF92P3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.07137, + -2.30139, + 1.83387 + ], + "start_rotation": [ + 0, + 0.66121, + 0, + -0.7502 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 10.09288, + "euclidean_distance": 4.82511, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.61291, + -2.31559, + -3.06587 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A3TYCJO2DG3RMH:3O6CYIULEF4I9AJ4KQ3QASIB9POWUE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.60012, + -2.31559, + 1.22367 + ], + "start_rotation": [ + 0, + 0.80992, + 0, + 0.58655 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 4.99059, + "euclidean_distance": 3.52581, + "closest_goal_object_id": 547, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.04246, + -2.31559, + -2.39242 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13" + ] + }, + { + "episode_id": "A3RR85PK3AV9TU:3I2PTA7R3VXZMHI6E30ICGRRGX0KQP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.02664, + 0.69607, + -0.47842 + ], + "start_rotation": [ + 0, + 0.94854, + 0, + -0.31667 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 8.74373, + "euclidean_distance": 8.16777, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.54151, + 3.59884, + 7.16375 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "e0f025c0baa94beba57ea499e3d846c5", + "path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "0_edge_164_newN_1", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + [ + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3NGI5ARFTV8CG4V56GFB7W5I216P14", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.51999, + 0.68441, + -0.46652 + ], + "start_rotation": [ + 0, + 0.27928, + 0, + 0.96021 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 18.64057, + "euclidean_distance": 15.69908, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.95892, + 3.48441, + 14.6956 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3GNA64GUZG7W4YX37GWCAR89JKHQ5C", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.99167, + 0.08441, + 13.89334 + ], + "start_rotation": [ + 0, + 0.58192, + 0, + 0.81325 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 23.81698, + "euclidean_distance": 13.75107, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.36926, + 3.48441, + 3.42246 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "6c58b3d5819e4ca8b896f81230477c7e", + "path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A12PUQIBXRBOXV:3KV0LJBBH4OUO6X9CU2YWJT01F9MRR", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.49387, + 0.08441, + 6.16332 + ], + "start_rotation": [ + 0, + 0.53607, + 0, + 0.84417 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.51162, + "euclidean_distance": 3.08242, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.42084, + 0.08441, + 6.48526 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "A3NFGEUZAH9V5G:3G0WWMR1UXN0UN39BGSY488UWGJNQ7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.29386, + -2.91559, + 12.6212 + ], + "start_rotation": [ + 0, + 0.78015, + 0, + 0.62559 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.86187, + "euclidean_distance": 6.03666, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.46675, + -2.91559, + 14.68095 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516", + [ + "4b77e304d83943999198c3cd4457512c" + ] + ] + }, + { + "episode_id": "A10TIDLXVV9Q4K:338JKRMM282GXBAHJM0Z9OWUKZBHAE", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.90881, + 3.67606, + 11.52857 + ], + "start_rotation": [ + 0, + 0.88603, + 0, + 0.46363 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.0974, + "euclidean_distance": 3.87475, + "closest_goal_object_id": 48, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.84093, + 3.48441, + 14.257 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b8196686626248beb76ea7c31e6e44e2", + "path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3BRY2LVVQGP3H:3FQ5JJ512NREJK5EYB818MWMER8KNA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.83197, + 3.68441, + 12.40351 + ], + "start_rotation": [ + 0, + 0.3276, + 0, + 0.94482 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.35485, + "euclidean_distance": 8.53331, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.19431, + 3.48441, + 4.36508 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "14a8edbbe4b14a05b1b5782a884fb6bf", + "path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Locate the picture.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + [ + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3M81GAB8A2MYTEEC8QNPDD81G01BQN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.34233, + -2.31559, + 1.95762 + ], + "start_rotation": [ + 0, + 0.32053, + 0, + -0.94724 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.02727, + "euclidean_distance": 5.94901, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.57795, + -2.31559, + -3.08293 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "751a95287d8e487eac608776f5e3a546", + "path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Navigate to the drawers.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:39LNWE0K4WZ08FZZV9ZB9192DWNUIJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.00006, + 0.68441, + -0.09303 + ], + "start_rotation": [ + 0, + 0.0685, + 0, + -0.99765 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 12.60286, + "euclidean_distance": 9.20681, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.6405, + 0.08441, + 7.22501 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "95064dc2001c4f64b0ccc9ab9702e35e", + "path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3SB5N7Y3O576W2HO7ELOZI8GWJ30G0", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.2939, + 0.08441, + 11.87544 + ], + "start_rotation": [ + 0, + 0.51285, + 0, + 0.85848 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 25.15981, + "euclidean_distance": 8.19575, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76451, + 3.48441, + 5.42797 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the clothes.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2OFN0A5CPLH57:3LEP4MGT3I3445A734H5DE11U0VBDQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.68687, + 0.08441, + 9.09875 + ], + "start_rotation": [ + 0, + 0.41298, + 0, + -0.91074 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 10.96484, + "euclidean_distance": 10.26102, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.86372, + 0.68441, + -0.34303 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "2b4fc2765e164775bb82e0aaf1d0d65d", + "path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_90_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_90_newN_0", + "2b4fc2765e164775bb82e0aaf1d0d65d", + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "2b4fc2765e164775bb82e0aaf1d0d65d", + "0_edge_90_newN_0", + [ + "2b4fc2765e164775bb82e0aaf1d0d65d" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010" + ], + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:3X1FV8S5JZUMP3I4AB9DKBY5A4AGVY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.18515, + 0.08441, + 13.46584 + ], + "start_rotation": [ + 0, + 0.99644, + 0, + -0.08431 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 6.62347, + "euclidean_distance": 5.8099, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.50699, + 0.08441, + 7.84419 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0" + ], + "instruction": "Find the cushion.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf" + ], + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:37UEWGM5HVBXSHBKJ8J0CR5WNP41RC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.38927, + -0.29501, + 2.74794 + ], + "start_rotation": [ + 0, + 0.9965, + 0, + 0.08356 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 5.09979, + "euclidean_distance": 3.86318, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.70899, + -2.31559, + 0.21359 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "04e0d7506a0849009fabf4c10fa74a40", + "path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Go to the equipment.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40" + ], + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:33FOTY3KEOOTMFM11BT5NW6B3PMC1M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.44115, + -2.91559, + 6.14811 + ], + "start_rotation": [ + 0, + 0.99497, + 0, + -0.10021 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 9.65382, + "euclidean_distance": 6.84327, + "closest_goal_object_id": 529, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.73231, + -2.31559, + -0.14094 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "3107120d425e424dacedb73bf44e9094", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "instruction": "Go to the sofa.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ], + "refined_path": [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3DHE4R9OCYEDSCK2M1P2I61VTGZ2GW", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.5361, + -2.91559, + 12.49373 + ], + "start_rotation": [ + 0, + 0.64062, + 0, + -0.76786 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.77295, + "euclidean_distance": 7.33793, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.04211, + -2.91559, + 6.06597 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "297c3ab529204fafb3ddf80e6efeec7f", + "path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:39ASUFLU6ZAG9ER84VK78TAFGUDXE6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.07722, + -2.31559, + -3.08528 + ], + "start_rotation": [ + 0, + 0.03505, + 0, + 0.99939 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.04055, + "euclidean_distance": 9.0647, + "closest_goal_object_id": 411, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.93868, + -2.91559, + 5.34713 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "30cf3312b4f647b8bf50970f2b894aac", + "path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ], + "refined_path": [ + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0" + ] + }, + { + "episode_id": "A1BZNPQ0H7ZSER:3N2BF7Y2VSXHZCJ6GPQ4IFRUHLAHML", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.27631, + 0.08441, + 10.01962 + ], + "start_rotation": [ + 0, + 0.50328, + 0, + 0.86412 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 5.34684, + "euclidean_distance": 1.16397, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.0883, + 0.08441, + 10.10534 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:37Z929RLGBBA2GN60G3F87TOK3GST9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.30509, + -2.91559, + 15.7493 + ], + "start_rotation": [ + 0, + 0.39684, + 0, + -0.91789 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 22.58805, + "euclidean_distance": 19.35799, + "closest_goal_object_id": 549, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.13257, + -2.31559, + -3.36786 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the stool.", + "instr_encoding": [ + 101, + 2424, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3NVC2EB65S22ZL1LK7PD8GDQQ8IY3E", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.35998, + 3.68441, + 10.686 + ], + "start_rotation": [ + 0, + 0.96966, + 0, + -0.24444 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 5.93937, + "euclidean_distance": 4.58043, + "closest_goal_object_id": 56, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.49402, + 3.48441, + 15.1453 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3KV0LJBBH4OUO6X9CU2YWJT01XTRMG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.26634, + 0.68441, + -1.17919 + ], + "start_rotation": [ + 0, + 0.76944, + 0, + -0.63872 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 11.09342, + "euclidean_distance": 9.14063, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.34871, + 0.08441, + 6.03302 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "e0f025c0baa94beba57ea499e3d846c5", + "path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A3D38UO96N9SB0:37QW5D2ZRIPR4WVIXISKHBX12BVS8M", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.06179, + 3.68441, + 10.76754 + ], + "start_rotation": [ + 0, + 0.72239, + 0, + 0.69149 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.26612, + "euclidean_distance": 3.05013, + "closest_goal_object_id": 11, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.58341, + 3.54947, + 9.39075 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_113_newN_1", + "path": [ + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A5A14MTB35J23:3ZV9H2YQQFAYAG6L567PNJSBTDJW3K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.68697, + 0.08441, + 9.05259 + ], + "start_rotation": [ + 0, + 0.34358, + 0, + 0.93912 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.81609, + "euclidean_distance": 5.89816, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.04255, + 0.08441, + 14.40132 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "0993008242df4171b26c1bf92ff5e845", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3GU1KF0O4K4DT2DX8D80D8IROHHPBF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.00863, + 0.08441, + 15.73675 + ], + "start_rotation": [ + 0, + 0.72163, + 0, + 0.69228 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.91578, + "euclidean_distance": 11.05062, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.66019, + 3.48441, + 5.49076 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3WZ36BJEV5JBLU64PUHKIIJNXNGTBQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.85458, + 0.68441, + 2.01031 + ], + "start_rotation": [ + 0, + 0.95943, + 0, + -0.28194 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 7.68209, + "euclidean_distance": 3.77812, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.29598, + 3.48441, + 3.39353 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "6ab39d830183407cb7ec17206889000d", + "path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:386CSBG1O1PSN2XHCZ6H2XM92TNQ62", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.46233, + 3.62202, + 7.23386 + ], + "start_rotation": [ + 0, + 0.94653, + 0, + 0.32263 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.61959, + "euclidean_distance": 8.52099, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71372, + 0.68441, + -0.73922 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "75bea3b92c924203951655b393e92979", + "path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "instruction": "Go to the plant.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ], + "refined_path": [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + [ + "75bea3b92c924203951655b393e92979" + ], + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3E7TUJ2EGEPLGCVA5K39M86C9F79DS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.21635, + 0.08441, + 6.66409 + ], + "start_rotation": [ + 0, + 0.99945, + 0, + -0.03309 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.02631, + "euclidean_distance": 7.19952, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.11024, + 0.68441, + -0.13166 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "7ce4382def52411ba706d50d2377447b", + "path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3F0BG9B9MRQK0428MJS3LXP7CMD7Y8", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.78222, + 0.08441, + 11.64932 + ], + "start_rotation": [ + 0, + 0.99744, + 0, + 0.0715 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 21.44851, + "euclidean_distance": 6.93301, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.5988, + 3.49435, + 6.12847 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "0_edge_195_newN_3", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3GM6G9ZBKP074LA1GJ7TWYUIOZMTMO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.39238, + 0.08441, + 10.52367 + ], + "start_rotation": [ + 0, + 0.86348, + 0, + 0.50438 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 23.57828, + "euclidean_distance": 8.83505, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.59311, + 3.48789, + 6.06093 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_90_newN_0", + "path": [ + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0_edge_90_newN_0", + "c1b7a383f8474e7d951ebea82bb82818", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3WSELTNVR5562K1CJGHON7ZHHG6ATB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.27668, + 3.48441, + 9.26959 + ], + "start_rotation": [ + 0, + 0.77092, + 0, + -0.63693 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 7.44975, + "euclidean_distance": 5.93482, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.95539, + 3.48441, + 14.80559 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0f1ba9e425a0452eade2a180cfa41e32", + "path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Locate the toilet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3DZQRBDBSNI53ZPCL1XOQUPQAUQ3SQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.61489, + -2.91559, + 9.02407 + ], + "start_rotation": [ + 0, + 0.60702, + 0, + 0.79468 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 9.92586, + "euclidean_distance": 8.91506, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.76699, + -2.31559, + 0.30501 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + [ + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A29CNQYJWMJ7G9:3YOH7BII0BARRPEN02USI3QYJEQVK3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.3667, + 3.56229, + 6.68484 + ], + "start_rotation": [ + 0, + 0.52412, + 0, + 0.85164 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.13614, + "euclidean_distance": 8.41697, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.00976, + 3.48441, + 14.69506 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c" + ], + "instruction": "Find the toilet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + [ + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + ] + }, + { + "episode_id": "A5V3ZMQI0PU3F:3YW4XOSQKSOP8931N2E5H2SHX931UM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.64759, + -2.88215, + 10.14669 + ], + "start_rotation": [ + 0, + 0.97728, + 0, + 0.21195 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.34678, + "euclidean_distance": 5.03846, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.86833, + -2.91559, + 11.77651 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "ca38c3e0cbcf4a4992d79889e5793cb7", + "path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "9a10d725e7334967a8ca89b2a61c446e", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "126fdbcf213d4d5d95674ccba62fc72b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "3107120d425e424dacedb73bf44e9094" + ], + "instruction": "Go to the drawers.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "refined_path": [ + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21", + [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + [ + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2" + ], + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e" + ] + ] + }, + { + "episode_id": "A3APKUC67F9IMW:3QEMNNSB2Z2H2T7HQN5P8CF6U257D6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.52004, + 0.68441, + 1.83592 + ], + "start_rotation": [ + 0, + 0.37329, + 0, + -0.92771 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 11.51476, + "euclidean_distance": 4.65392, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.57387, + 3.48441, + 5.47782 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "541ab4e8ff1f4bc8bf20775a1fb38872", + "path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "a6ce5d580416478b847a83a2c537a637", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A3K1P4SPR8XS7R:3MAOD8E57SDK3K4LXUNQYG4OAWKXN1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.22422, + -2.91559, + 16.12302 + ], + "start_rotation": [ + 0, + 0.30546, + 0, + -0.9522 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 5.78038, + "euclidean_distance": 3.81623, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.335, + -2.91559, + 15.58225 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "dba514ffecec43bdb0a247cd898d224b", + "path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Locate the bathtub.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3WT783CTPDKUZD4T38MUT8JJB2SCB6", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.69084, + 0.08441, + 9.37952 + ], + "start_rotation": [ + 0, + 0.77033, + 0, + -0.63765 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.39711, + "euclidean_distance": 5.68419, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.4255, + 3.50202, + 6.13982 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_195_newN_3", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "AIOOOO5OXWXKM:3CPLWGV3MQ2U2OMNUEHCIDI63WB9NI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.87617, + 0.68441, + 0.32657 + ], + "start_rotation": [ + 0, + 0.99999, + 0, + 0.00349 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 18.08677, + "euclidean_distance": 14.83865, + "closest_goal_object_id": 60, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.01277, + 3.48441, + 14.73062 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "0_edge_131_newN_0", + "path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "a6ce5d580416478b847a83a2c537a637", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ], + "refined_path": [ + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + [ + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:39GXDJN2OVH7WOCMRDXPSYH7M2WV8U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.06885, + -2.31559, + 0.03902 + ], + "start_rotation": [ + 0, + 0.56543, + 0, + 0.82479 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 5.41974, + "euclidean_distance": 3.98005, + "closest_goal_object_id": 542, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.54021, + -2.31559, + -3.02899 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "c3b46ef0552142a6b62a45cd30f26de8", + "path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Find the drawers.", + "instr_encoding": [ + 101, + 2424, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3S96KQ6I9O740R4O3Q8QD87O3NHDT5", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.89241, + 0.08441, + 7.08829 + ], + "start_rotation": [ + 0, + 0.87403, + 0, + 0.48587 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 9.39024, + "euclidean_distance": 7.34933, + "closest_goal_object_id": 118, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.22622, + 0.68441, + 0.21863 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "3bbffb39570649958d7147a0099ccb48", + "path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "3bbffb39570649958d7147a0099ccb48", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + }, + { + "episode_id": "A3PFU4042GIQLE:33NF62TLXL5I0UETJDG9FFF4M3MJKV", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.60888, + 0.08441, + 10.35004 + ], + "start_rotation": [ + 0, + 0.58743, + 0, + 0.80928 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 15.55122, + "euclidean_distance": 13.68631, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.27369, + 0.68441, + -2.95172 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0993008242df4171b26c1bf92ff5e845", + "path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ], + "refined_path": [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + [ + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698" + ] + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3EJJQNKU9T88WSWYLXML4EL36L9HRG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.6346, + 0.61758, + 2.60649 + ], + "start_rotation": [ + 0, + 0.35809, + 0, + -0.93369 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 23.9577, + "euclidean_distance": 12.01796, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.41675, + 3.48441, + 14.03751 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "9167f8d20b954ccf97b09d33762cf4d5", + "path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A1R0689JPSQ3OF:3IXQG4FA2V1S1FXQROC3RIICJ4T9BG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.02174, + -2.91559, + 9.0833 + ], + "start_rotation": [ + 0, + 0.92461, + 0, + -0.38092 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 4.29108, + "euclidean_distance": 4.0377, + "closest_goal_object_id": 419, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13983, + -2.91559, + 6.29563 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Locate the sink.", + "instr_encoding": [ + 101, + 12453, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A3G3TIX6FEMN8R:3R3YRB5GRH6L2XG1JL7YS3LKH6ZUAF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.09055, + -2.31559, + 0.56713 + ], + "start_rotation": [ + 0, + 0.88028, + 0, + -0.47446 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 3.82661, + "euclidean_distance": 3.47089, + "closest_goal_object_id": 538, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.88824, + -2.31559, + -2.41071 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "f0307e707d50446097021ce802f44a4e", + "path": [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "refined_path": [ + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:337RC3OW0752BVW5L26TX33D87QLVD", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.10325, + 3.48441, + 14.15279 + ], + "start_rotation": [ + 0, + 0.97284, + 0, + 0.23147 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 5.52784, + "euclidean_distance": 4.88025, + "closest_goal_object_id": 16, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.63748, + 3.48441, + 9.28238 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "3adc93014dad46b6879d8d7b6922f02c", + "path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "instruction": "Navigate to the cushion.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "refined_path": [ + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:39N5ACM9HGQU59Y0ATU4M2N10899P2", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.15264, + 0.68441, + -1.30715 + ], + "start_rotation": [ + 0, + 0.33941, + 0, + 0.94064 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 2.12267, + "euclidean_distance": 1.86556, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.21371, + 0.68441, + -2.94854 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "e0f025c0baa94beba57ea499e3d846c5", + "path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Navigate to the sink.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3QEMNNSB2Z2H2T7HQN5P8CF6RBZD7L", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.46148, + 0.08441, + 7.30205 + ], + "start_rotation": [ + 0, + 0.9757, + 0, + 0.2191 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 18.40723, + "euclidean_distance": 9.27768, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.34653, + 3.48441, + 3.39566 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "0927e4d3dc3e4c8590fd3f7dc512a130", + "path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "0927e4d3dc3e4c8590fd3f7dc512a130", + "c238ad68f9b443a5b3fc41a4a561363f", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f" + ], + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A26LOVXF4QZZCO:388U7OUMF94XLSQ2NPF0YMMNYSL0R3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.45443, + 0.08441, + 7.68604 + ], + "start_rotation": [ + 0, + 0.9491, + 0, + -0.31497 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 18.29436, + "euclidean_distance": 5.0021, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.58539, + 3.48441, + 5.68667 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Find the towel.", + "instr_encoding": [ + 101, + 2424, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + [ + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A13WYZ8AXD6ODX:3X65QVEQI2Q6CMQ5ULBO7BFP4JWLCL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.60017, + 0.08441, + 8.06236 + ], + "start_rotation": [ + 0, + 0.9522, + 0, + 0.30548 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 27.06805, + "euclidean_distance": 7.92836, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.46682, + 3.48441, + 13.96427 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "707a59ada1bc4b4f90638ddfa809ebd5", + "path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + [ + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + [ + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A9K0CV70JWG1W:3IRIK4HM3CNOT1NY7H5MISXSENX6CM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.46421, + 0.08441, + 16.2419 + ], + "start_rotation": [ + 0, + 0.17847, + 0, + 0.98394 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 14.93071, + "euclidean_distance": 3.51045, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.23985, + 0.08441, + 13.54872 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Go to the monitor.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "AD1ILDUXZHASF:3DZQRBDBSNI53ZPCL1XOQUPQNB73SI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.81433, + 3.5381, + 6.91753 + ], + "start_rotation": [ + 0, + 0.7637, + 0, + 0.64557 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 4.29384, + "euclidean_distance": 3.88833, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.25953, + 3.48441, + 4.43823 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3I2PTA7R3VXZMHI6E30ICGRRJ2GKQI", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.59408, + -2.91559, + 14.69375 + ], + "start_rotation": [ + 0, + 0.61294, + 0, + 0.79013 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.57707, + "euclidean_distance": 8.99727, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.02786, + -2.91559, + 6.05766 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "60668601cee245e5bb27a12d0b022918", + "path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Navigate to the toilet.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1" + ], + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "AZPZDX26SYMFY:3DIP6YHAPEVQUDQ0WN8FSUTM2VO8EQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.41535, + -2.91559, + 12.60161 + ], + "start_rotation": [ + 0, + 0.99668, + 0, + -0.08141 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.9779, + "euclidean_distance": 6.15771, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.36693, + -2.91559, + 14.73021 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "0_edge_153_newN_1", + "path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A16K7X677N4WN6:3MTMREQS4XLYU156ELMZAR6H2OCWAM", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.71125, + 0.08441, + 8.02157 + ], + "start_rotation": [ + 0, + 0.10979, + 0, + -0.99395 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 7.03714, + "euclidean_distance": 7.03714, + "closest_goal_object_id": 211, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.10769, + 0.08441, + 14.96624 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "a872e012dec3414a8624f6ebda4b752c", + "path": [ + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "59d2f40b1fbf4784b2b661f05a439fad", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the seating.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "7a663a2787474bc2b09a4e8b21325141", + "6c58b3d5819e4ca8b896f81230477c7e", + [ + "7a663a2787474bc2b09a4e8b21325141", + "80f652ffcdfa47ada388a00233624799" + ], + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + [ + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3H0W84IWBM5WCI5WVWEFJBOQCJHERN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.70183, + 0.68441, + -2.88742 + ], + "start_rotation": [ + 0, + 0.4964, + 0, + 0.86809 + ], + "object_category": "cushion", + "info": { + "geodesic_distance": 13.31637, + "euclidean_distance": 10.67225, + "closest_goal_object_id": 243, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.65453, + 0.08441, + 7.29515 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cushion", + "start_potision_viewpoint_id": "0f7e0af0cb3b4c2abf62bba2fd955702", + "path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Locate the cushion.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22936, + 1012, + 102 + ], + "original_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:3RU7GD8VPQWCAOUZJZUV3XSRFNQPSQ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.8883, + 3.48441, + 14.35377 + ], + "start_rotation": [ + 0, + 0.99772, + 0, + 0.06743 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 17.50812, + "euclidean_distance": 15.71121, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.91639, + 0.68441, + -0.66672 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Find the plant.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "AYYSG3O9FNU15:3LO69W1SU5GJTY6AW777X2042FULG9", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.53231, + -2.91559, + 13.60655 + ], + "start_rotation": [ + 0, + 0.49307, + 0, + -0.86999 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 9.43439, + "euclidean_distance": 2.69657, + "closest_goal_object_id": 330, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.58652, + -2.91559, + 16.08939 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "de87c39b7dd046bda1f0819c53670338", + "path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ], + "refined_path": [ + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b" + ] + }, + { + "episode_id": "A2FUNB3BUB3U07:3G5F9DBFOR00PZDFUHRV5BA78DJHVX", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.6212, + -2.91559, + 13.82287 + ], + "start_rotation": [ + 0, + 0.9363, + 0, + 0.35119 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 3.71453, + "euclidean_distance": 2.36076, + "closest_goal_object_id": 314, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.74198, + -2.91559, + 13.23321 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "91b54e8895bf4d63922b5ef7ea839d4c", + "path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ], + "refined_path": [ + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "4b77e304d83943999198c3cd4457512c", + "0_edge_160_newN_0", + "d5839b78130944da925af878f4e64970" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3D4CH1LGECWOSW517A4HST99ZNN9GB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.10305, + 0.08441, + 2.6884 + ], + "start_rotation": [ + 0, + 0.75153, + 0, + 0.6597 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 4.86794, + "euclidean_distance": 4.57375, + "closest_goal_object_id": 239, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.86215, + 0.08441, + 7.06723 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "instruction": "Go to the chair.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ], + "refined_path": [ + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1" + ] + }, + { + "episode_id": "A1NSHNH3MNFRGW:3BF51CHDTXDKWYCZRK36KIKGVDW0HL", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.99011, + 0.08441, + 6.71436 + ], + "start_rotation": [ + 0, + 0.34483, + 0, + -0.93866 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 27.19315, + "euclidean_distance": 8.74, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.47228, + 3.48441, + 13.96442 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "1e649cc84c9043b69e2367b7d5aeecf2", + "path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b", + "1e649cc84c9043b69e2367b7d5aeecf2" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3TVRFO09GMIUFK10LH7BLO0YMC0LX4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.02737, + -2.31559, + 0.37023 + ], + "start_rotation": [ + 0, + 0.80178, + 0, + -0.59763 + ], + "object_category": "shower", + "info": { + "geodesic_distance": 5.4107, + "euclidean_distance": 4.71272, + "closest_goal_object_id": 488, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.7668, + -2.31559, + -3.43088 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_shower", + "start_potision_viewpoint_id": "0_edge_233_newN_0", + "path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "instruction": "Find the shower.", + "instr_encoding": [ + 101, + 2424, + 1996, + 6457, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ], + "refined_path": [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3X4MXAO0BIRQTIRNGW8L5HVRZRERWY", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.02634, + -2.31559, + 2.24822 + ], + "start_rotation": [ + 0, + 0.58952, + 0, + -0.80776 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 5.39894, + "euclidean_distance": 4.88949, + "closest_goal_object_id": 486, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.53042, + -2.31559, + -0.91084 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "instruction": "Find the cabinet.", + "instr_encoding": [ + 101, + 2424, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:32KTQ2V7RFIOK61NID2C5YT5F84M9H", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.96626, + 3.48441, + 8.34399 + ], + "start_rotation": [ + 0, + 0.39873, + 0, + -0.91707 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 11.09625, + "euclidean_distance": 9.12851, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.53892, + 0.68441, + -0.28755 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "c5f2bf41ad33497a925bead423cbfb19", + "path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the chair.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + [ + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3PEIJLRY6VWAQEDZPVEDUZHF09RXWU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.94675, + 0.08441, + 13.07354 + ], + "start_rotation": [ + 0, + 0.90836, + 0, + 0.41818 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 18.20416, + "euclidean_distance": 16.2059, + "closest_goal_object_id": 156, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.29772, + 0.68441, + -2.85761 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "40eda297975f4648bbc301ff98940fcf", + "path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the sink.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + [ + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:33FBRBDW6Q2BXF6M0W2K26TJHU8C8K", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.55921, + 0.08441, + 16.44232 + ], + "start_rotation": [ + 0, + 0.17713, + 0, + -0.98419 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 19.02919, + "euclidean_distance": 16.62933, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.05682, + 0.68441, + -0.16445 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "649a58719cd7455ebe18675c9719dfa7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "AIIOT9A7ARQZW:3G2UL9A02FHIHKS2G0XB265EAQD76Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.53036, + -2.91559, + 16.79425 + ], + "start_rotation": [ + 0, + 0.1662, + 0, + 0.98609 + ], + "object_category": "chest_of_drawers", + "info": { + "geodesic_distance": 7.86471, + "euclidean_distance": 6.40908, + "closest_goal_object_id": 358, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.07704, + -2.91559, + 12.08582 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chest_of_drawers", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "de87c39b7dd046bda1f0819c53670338", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "instruction": "Locate the drawers.", + "instr_encoding": [ + 101, + 12453, + 1996, + 22497, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "de87c39b7dd046bda1f0819c53670338", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + [ + "8c973e0dd63e490db73c44ff6959854b" + ], + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "4b77e304d83943999198c3cd4457512c", + [ + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1", + [ + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3107120d425e424dacedb73bf44e9094", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2" + ], + "2754c89e3b2645d598ace5d7878f5d13", + "ca38c3e0cbcf4a4992d79889e5793cb7", + [ + "2754c89e3b2645d598ace5d7878f5d13", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "e10d6b636ed94caa87771f92b1251868", + [ + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + [ + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f" + ], + "de87c39b7dd046bda1f0819c53670338", + [ + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e345211511824219a62f1b8d639c477e", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b" + ], + "30cf3312b4f647b8bf50970f2b894aac" + ] + }, + { + "episode_id": "AT3HI6B4AF1C5:35GMH2SV3GKTF5DG34XBPGJMGPKEO4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.28424, + 0.08441, + 14.82797 + ], + "start_rotation": [ + 0, + 0.22697, + 0, + -0.9739 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 24.94457, + "euclidean_distance": 9.42215, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.60795, + 3.48963, + 6.08422 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "9092fc23426942e1a94b66181a3d0fc7", + "path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "a6ce5d580416478b847a83a2c537a637", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7" + ], + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A28U7B76HLCS1U:3SKEMFQBZ58TGDIAS9JIQP6RPR38KU", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.5896, + 0.08441, + 12.41819 + ], + "start_rotation": [ + 0, + 0.61146, + 0, + 0.79128 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 24.62515, + "euclidean_distance": 8.77886, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.54467, + 3.49071, + 6.07097 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "instruction": "Go to the bed.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:33M4IA01QI45IIWDQ147709XS7CXRZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 2.73941, + 0.08441, + 14.67017 + ], + "start_rotation": [ + 0, + 0.98092, + 0, + 0.19439 + ], + "object_category": "tv_monitor", + "info": { + "geodesic_distance": 13.34949, + "euclidean_distance": 2.78798, + "closest_goal_object_id": 234, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.1353, + 0.08441, + 13.62597 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_tv_monitor", + "start_potision_viewpoint_id": "c7b097de55f242fa8bdd795d3945637d", + "path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "instruction": "Locate the monitor.", + "instr_encoding": [ + 101, + 12453, + 1996, + 8080, + 1012, + 102 + ], + "original_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ], + "refined_path": [ + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:37UQDCYH6ZY3WA73H85JEYLCBAZ7VC", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.22847, + -2.31559, + 1.01492 + ], + "start_rotation": [ + 0, + 0.99967, + 0, + 0.02572 + ], + "object_category": "toilet", + "info": { + "geodesic_distance": 9.93932, + "euclidean_distance": 5.78366, + "closest_goal_object_id": 417, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.04525, + -2.91559, + 5.68242 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_toilet", + "start_potision_viewpoint_id": "ad2772104c144a579f0a43503cb4c86b", + "path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Go to the toilet.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 11848, + 1012, + 102 + ], + "original_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "5908a457f37a470aa0e8cd389f31d438", + "7b99fad7a2b243dea6b50dc65d03fbc7", + [ + "5908a457f37a470aa0e8cd389f31d438", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546" + ], + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3W92K5RLWWKO96TKTFQMGE7H35X5VB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.69311, + 0.08441, + 15.60959 + ], + "start_rotation": [ + 0, + 0.56526, + 0, + -0.82491 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 11.25031, + "euclidean_distance": 8.74219, + "closest_goal_object_id": 274, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 2.94831, + 0.08441, + 8.82031 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "1e649cc84c9043b69e2367b7d5aeecf2", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "1e649cc84c9043b69e2367b7d5aeecf2", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b" + ] + }, + { + "episode_id": "A272X64FOZFYLB:3ERMJ6L4D0VK6NDU3G4SR22ZM05M7W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.55175, + 0.08441, + 7.45406 + ], + "start_rotation": [ + 0, + 0.43528, + 0, + 0.9003 + ], + "object_category": "towel", + "info": { + "geodesic_distance": 21.37022, + "euclidean_distance": 6.3309, + "closest_goal_object_id": 85, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.53092, + 3.48441, + 5.62139 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_towel", + "start_potision_viewpoint_id": "c238ad68f9b443a5b3fc41a4a561363f", + "path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "7d01dee740ef4288b111dc65f449ca22", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Go to the towel.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 10257, + 1012, + 102 + ], + "original_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + [ + "c238ad68f9b443a5b3fc41a4a561363f" + ], + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "7d01dee740ef4288b111dc65f449ca22", + [ + "a872e012dec3414a8624f6ebda4b752c" + ], + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "APGX2WZ59OWDN:37TRT2X24SUH7RAZD03GGCWE1NVBJF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.30999, + 0.68441, + -2.80223 + ], + "start_rotation": [ + 0, + 0.92149, + 0, + -0.38841 + ], + "object_category": "table", + "info": { + "geodesic_distance": 3.89562, + "euclidean_distance": 3.09167, + "closest_goal_object_id": 145, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.78882, + 0.68441, + -0.60266 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "cd4f7bb78a8b469bac6deaea84e6f68c", + "path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Go to the table.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A3HL2LL0LEPZT8:3QEMNNSB2Z2H2T7HQN5P8CF6ERLD7Q", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.8742, + 3.48441, + 5.83008 + ], + "start_rotation": [ + 0, + 0.97655, + 0, + -0.21528 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 20.4297, + "euclidean_distance": 4.14358, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.31173, + 0.08441, + 6.16131 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb" + ], + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5" + ], + "3adc93014dad46b6879d8d7b6922f02c", + "1144d00a8ebd417f8a0de419ea12c1e5", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "1144d00a8ebd417f8a0de419ea12c1e5" + ], + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + [ + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8" + ], + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3UOUJI6MTFHXYAOUUVZCCBWIF3PXUO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -6.20105, + 0.08441, + 12.22233 + ], + "start_rotation": [ + 0, + 0.81139, + 0, + -0.58451 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 13.84679, + "euclidean_distance": 13.05544, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.8062, + 0.68441, + -0.32507 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "0_edge_223_newN_0", + "path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "instruction": "Navigate to the counter.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "refined_path": [ + "0_edge_223_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799" + ], + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:3YT88D1N0A17FGC4GSOMZ8YG6BKK3W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.96682, + 0.08441, + 13.08232 + ], + "start_rotation": [ + 0, + 0.83893, + 0, + -0.54424 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 26.76414, + "euclidean_distance": 8.74679, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.67881, + 3.48441, + 5.49041 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "c687ee4d80bc453d905d501b347675b8", + "path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Navigate to the clothes.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + [ + "c687ee4d80bc453d905d501b347675b8" + ], + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3VNXK88KKEL7ATVWW533SUCJMMLV90", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.6671, + -2.91559, + 9.25218 + ], + "start_rotation": [ + 0, + 0.98695, + 0, + 0.16101 + ], + "object_category": "table", + "info": { + "geodesic_distance": 5.32601, + "euclidean_distance": 2.6996, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.81518, + -2.91559, + 11.8762 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "c3b46ef0552142a6b62a45cd30f26de8", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "e345211511824219a62f1b8d639c477e", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Navigate to the table.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + [ + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + [ + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A2R2YZTSME1K3F:3G5W44VEU9L89SOSB7V6I2NPAIIKG1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.79826, + 3.48441, + 6.80959 + ], + "start_rotation": [ + 0, + 0.0052, + 0, + 0.99999 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 18.43017, + "euclidean_distance": 6.9544, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.26447, + 0.08441, + 6.09869 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "87f68627d919449995ed93f6ae72e6ab", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8" + ], + "instruction": "Go to the stool.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d", + "67d9b711455f43db8e5270016d4bd873", + [ + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979" + ], + "87f68627d919449995ed93f6ae72e6ab", + [ + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + [ + "b8196686626248beb76ea7c31e6e44e2" + ], + "1144d00a8ebd417f8a0de419ea12c1e5", + "e611700e04a24c3dabb73b0b000e5589", + "45af9f44b1d041159dd1ded3c28e8457", + [ + "e611700e04a24c3dabb73b0b000e5589", + "1144d00a8ebd417f8a0de419ea12c1e5", + "b8196686626248beb76ea7c31e6e44e2", + "0_edge_113_newN_1", + "b8196686626248beb76ea7c31e6e44e2", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8" + ] + }, + { + "episode_id": "A2R0YYUAWNT7UD:34FNN24DCOC5D0OPYQD6NDBBIOHY5W", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.9143, + 0.68441, + -0.45568 + ], + "start_rotation": [ + 0, + 0.79818, + 0, + -0.60243 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 8.73821, + "euclidean_distance": 7.37131, + "closest_goal_object_id": 256, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -4.33318, + 0.08441, + 5.97602 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + }, + { + "episode_id": "A1RQLE4ZMTU22A:36V4Q8R5ZM3UC5I9ZFDYRTJV5FLQMG", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.65139, + 0.08441, + 10.05099 + ], + "start_rotation": [ + 0, + 0.23128, + 0, + 0.97289 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 11.67387, + "euclidean_distance": 10.87643, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.04665, + 0.68441, + -0.15897 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "b0d9ca4f89d64be18df9a3b01cd82f4b", + "path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Go to the counter.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A31BA1WLSWUSY1:3I0BTBYZAZO6IT2O1K7U6IFKOZF0YB", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.94746, + 3.48441, + 6.64018 + ], + "start_rotation": [ + 0, + 0.06725, + 0, + -0.99774 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.24072, + "euclidean_distance": 7.92338, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.84589, + 0.68441, + -0.73062 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "c5f2bf41ad33497a925bead423cbfb19", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + [ + "2816e163791e4878804d6b7476b9dddd" + ], + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "ALZVG5501Y5IX:3CTOC39K39TU5F790JR0BAAJZMAJ74", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.68458, + 3.48441, + 14.23777 + ], + "start_rotation": [ + 0, + 0.50908, + 0, + -0.86072 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 18.32222, + "euclidean_distance": 14.90331, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.49244, + 0.68441, + -0.23399 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "483b844778c545d899860802e9c5c9d5", + "path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Navigate to the chair.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1ZE52NWZPN85P:374TNBHA8DYU6M7NII19LO61YO8YQ3", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -3.53774, + -2.91559, + 9.09514 + ], + "start_rotation": [ + 0, + 0.5542, + 0, + 0.83238 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 10.81948, + "euclidean_distance": 9.21286, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.84253, + -2.31559, + 0.28501 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "0_edge_142_newN_0", + "path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "0_edge_233_newN_0" + ], + "instruction": "Navigate to the equipment.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "A2Q6L9LKSNU7EB:3ERMJ6L4D0VK6NDU3G4SR220N4S7MF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.80218, + 0.08441, + 13.26353 + ], + "start_rotation": [ + 0, + 0.14949, + 0, + 0.98876 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 15.80872, + "euclidean_distance": 13.46695, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13465, + 0.68441, + -0.03892 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "649a58719cd7455ebe18675c9719dfa7", + "path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Locate the counter.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + [ + "9092fc23426942e1a94b66181a3d0fc7" + ], + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:37W3JXSD68BZQJ39UR0FDDOO2Q5YW7", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.83585, + 3.48441, + 3.56913 + ], + "start_rotation": [ + 0, + 0.96951, + 0, + -0.24504 + ], + "object_category": "sofa", + "info": { + "geodesic_distance": 17.44757, + "euclidean_distance": 7.39543, + "closest_goal_object_id": 231, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.99521, + 0.08441, + 10.0732 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sofa", + "start_potision_viewpoint_id": "571d716b0cdd430d99c63474c34f0c9c", + "path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "instruction": "Navigate to the sofa.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10682, + 1012, + 102 + ], + "original_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ], + "refined_path": [ + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + [ + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "40eda297975f4648bbc301ff98940fcf", + "c7b097de55f242fa8bdd795d3945637d", + [ + "40eda297975f4648bbc301ff98940fcf", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "649a58719cd7455ebe18675c9719dfa7" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3LS2AMNW5HTIC83LCVSBJX80NU5QOH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.35425, + 3.55816, + 6.68062 + ], + "start_rotation": [ + 0, + 0.94077, + 0, + 0.33905 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 8.69185, + "euclidean_distance": 7.90516, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.72028, + 0.68441, + -0.73683 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "2816e163791e4878804d6b7476b9dddd", + "path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "483b844778c545d899860802e9c5c9d5", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "instruction": "Locate the plant.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "75bea3b92c924203951655b393e92979", + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "refined_path": [ + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761", + [ + "75bea3b92c924203951655b393e92979" + ], + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0_edge_113_newN_0", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf" + ], + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "425e120b2d7742b1a8f0902355908761" + ], + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5" + ] + }, + { + "episode_id": "A2L26DMSVUEDP6:39K0FND3AJI2PPBSAJGC1T4Q1RVMAP", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.29205, + 0.08441, + 14.61201 + ], + "start_rotation": [ + 0, + 0.88328, + 0, + -0.46885 + ], + "object_category": "clothes", + "info": { + "geodesic_distance": 27.89598, + "euclidean_distance": 10.50337, + "closest_goal_object_id": 81, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.73444, + 3.48441, + 5.33449 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_clothes", + "start_potision_viewpoint_id": "0_edge_164_newN_0", + "path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "instruction": "Locate the clothes.", + "instr_encoding": [ + 101, + 12453, + 1996, + 4253, + 1012, + 102 + ], + "original_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ], + "refined_path": [ + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010" + ], + "c238ad68f9b443a5b3fc41a4a561363f", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + [ + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "0f7e0af0cb3b4c2abf62bba2fd955702", + "ddb93f6063d54365bc6e8c751fd2e698", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "75bea3b92c924203951655b393e92979", + "87f68627d919449995ed93f6ae72e6ab" + ] + }, + { + "episode_id": "A21ZK49H9LSSRY:3PB5A5BD0X9KEDH8SD6XEXI34RCG77", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.40655, + -2.30378, + 2.21531 + ], + "start_rotation": [ + 0, + 0.98328, + 0, + -0.1821 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 20.23641, + "euclidean_distance": 13.97172, + "closest_goal_object_id": 311, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.31966, + -2.91559, + 15.3905 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "ae407deab28949e8b8daede6749be158", + "path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "0_edge_196_newN_0", + "e5bfa9c293cd44e1b14953500462dd72", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "instruction": "Find the bathtub.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "e5bfa9c293cd44e1b14953500462dd72", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ], + "refined_path": [ + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1", + [ + "ad2772104c144a579f0a43503cb4c86b", + "ae407deab28949e8b8daede6749be158", + "ad2772104c144a579f0a43503cb4c86b", + "0_edge_233_newN_1" + ], + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e" + ], + "e5bfa9c293cd44e1b14953500462dd72", + [ + "f0307e707d50446097021ce802f44a4e" + ], + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "e345211511824219a62f1b8d639c477e", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "3107120d425e424dacedb73bf44e9094", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "c6a181682e8f4c55b27287031ed7ddcd", + "36127c5e30e644799c0f1a1ecd4381ca", + "74bbacaafe014759bb9a6cc694d72516" + ] + }, + { + "episode_id": "A2MCG5W6LHSRG9:33L7PJKHCI1SJW8XMIXARGTN8AM8T4", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.72269, + 0.08441, + 15.57189 + ], + "start_rotation": [ + 0, + 0.75053, + 0, + -0.66084 + ], + "object_category": "counter", + "info": { + "geodesic_distance": 19.91487, + "euclidean_distance": 15.98024, + "closest_goal_object_id": 143, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.13295, + 0.68441, + -0.04551 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_counter", + "start_potision_viewpoint_id": "8d0cc65b2a484591a97b9a8282809f50", + "path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "instruction": "Find the counter.", + "instr_encoding": [ + 101, + 2424, + 1996, + 4675, + 1012, + 102 + ], + "original_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "refined_path": [ + "8d0cc65b2a484591a97b9a8282809f50", + "ef277969af8e477495075389c3e06da6", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5" + ], + "3eb5c4d7ad9a4805b0470cf5f9e3b17c", + [ + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0" + ], + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e" + ] + }, + { + "episode_id": "A1P3HHEXWNLJMP:3TOK3KHVJVL86QY6GWJ5J6R5VE4O75", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.47392, + -2.31559, + 1.89504 + ], + "start_rotation": [ + 0, + 0.94378, + 0, + -0.33057 + ], + "object_category": "seating", + "info": { + "geodesic_distance": 10.82689, + "euclidean_distance": 6.80279, + "closest_goal_object_id": 379, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -1.73504, + -2.91559, + 8.77897 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_seating", + "start_potision_viewpoint_id": "0_edge_233_newN_1", + "path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "f3d9a22621e14992b8b3fb9776f0395b", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "instruction": "Navigate to the seating.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 10747, + 1012, + 102 + ], + "original_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + "0_edge_233_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ], + "refined_path": [ + "0_edge_233_newN_1", + "0_edge_233_newN_0", + "d83a8f5db61b4b78afc1c1d855b4c8b9", + [ + "0_edge_233_newN_0" + ], + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "a55a46bc13e743ca8626a97ac056b8f3", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + [ + "b0299947a912497ba3e1c8f80181f408" + ], + "126fdbcf213d4d5d95674ccba62fc72b", + "30cf3312b4f647b8bf50970f2b894aac", + [ + "126fdbcf213d4d5d95674ccba62fc72b", + "b0299947a912497ba3e1c8f80181f408", + "0_edge_196_newN_1", + "b0299947a912497ba3e1c8f80181f408", + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + [ + "a55a46bc13e743ca8626a97ac056b8f3" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "d962509cdba64e6ca76a6228582eb901", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "d2a0481db3044dfbac40244bdbf9f9e1", + "8c973e0dd63e490db73c44ff6959854b", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "dba514ffecec43bdb0a247cd898d224b", + "5c297f8154ee4807bbd7dea5e4e6eb21" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:3OWEPKL08BFQO5YUFHJS4HR04SG7N1", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.02514, + 0.08441, + 16.26482 + ], + "start_rotation": [ + 0, + 0.46706, + 0, + -0.88423 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 28.48545, + "euclidean_distance": 11.62845, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.51031, + 3.4968, + 6.11947 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "d8ce438c0ca246748186b48d3ac3eb50", + "path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "instruction": "Navigate to the bed.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + "d8ce438c0ca246748186b48d3ac3eb50", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ], + "refined_path": [ + "d8ce438c0ca246748186b48d3ac3eb50", + "0_edge_164_newN_0", + [ + "d8ce438c0ca246748186b48d3ac3eb50" + ], + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1", + [ + "c3fe2f1211cf4bce8458006b7f174010", + "7d01dee740ef4288b111dc65f449ca22" + ], + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd" + ] + }, + { + "episode_id": "A3GWRDHAURRNK6:3SKRO2GZ73UB5DYPTOA3BFJIU5J1KA", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.03587, + 0.08441, + 6.31425 + ], + "start_rotation": [ + 0, + 0.63112, + 0, + 0.77569 + ], + "object_category": "cabinet", + "info": { + "geodesic_distance": 8.62192, + "euclidean_distance": 8.13582, + "closest_goal_object_id": 216, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.1168, + 0.08441, + 14.37158 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_cabinet", + "start_potision_viewpoint_id": "0_edge_55_newN_1", + "path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_190_newN_0", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "instruction": "Locate the cabinet.", + "instr_encoding": [ + 101, + 12453, + 1996, + 5239, + 1012, + 102 + ], + "original_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ], + "refined_path": [ + "0_edge_55_newN_1", + "1e649cc84c9043b69e2367b7d5aeecf2", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + [ + "7ce4382def52411ba706d50d2377447b" + ], + "0_edge_195_newN_3", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_55_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + [ + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_186_newN_0", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + [ + "b72841257cae4f829f8a68c30175ff07" + ], + "c687ee4d80bc453d905d501b347675b8", + "03a8325e3b054e3fad7e1e7091f9d283", + "8d0cc65b2a484591a97b9a8282809f50" + ] + }, + { + "episode_id": "A3GMRPF5MCQVGV:33IZTU6J834HJXWQ5Q4CXAETGIBXSN", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -5.93883, + -2.91559, + 15.8761 + ], + "start_rotation": [ + 0, + 0.68031, + 0, + -0.73293 + ], + "object_category": "sink", + "info": { + "geodesic_distance": 6.97005, + "euclidean_distance": 6.44849, + "closest_goal_object_id": 309, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.25595, + -2.91559, + 14.7382 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_sink", + "start_potision_viewpoint_id": "5c297f8154ee4807bbd7dea5e4e6eb21", + "path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "d962509cdba64e6ca76a6228582eb901" + ], + "instruction": "Find the sink.", + "instr_encoding": [ + 101, + 2424, + 1996, + 7752, + 1012, + 102 + ], + "original_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "d962509cdba64e6ca76a6228582eb901" + ], + "refined_path": [ + "5c297f8154ee4807bbd7dea5e4e6eb21", + "dba514ffecec43bdb0a247cd898d224b", + "60668601cee245e5bb27a12d0b022918", + "91b54e8895bf4d63922b5ef7ea839d4c", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3107120d425e424dacedb73bf44e9094", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "d962509cdba64e6ca76a6228582eb901" + ] + }, + { + "episode_id": "A75XDPFNICR3T:3WLEIWSYHQKRS8FD677K36DW8NM2HJ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.85914, + -2.91559, + 14.81703 + ], + "start_rotation": [ + 0, + 0.81204, + 0, + 0.5836 + ], + "object_category": "gym_equipment", + "info": { + "geodesic_distance": 15.34633, + "euclidean_distance": 14.61565, + "closest_goal_object_id": 516, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.75036, + -2.31559, + 0.21227 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_gym_equipment", + "start_potision_viewpoint_id": "4b77e304d83943999198c3cd4457512c", + "path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "instruction": "Find the equipment.", + "instr_encoding": [ + 101, + 2424, + 1996, + 3941, + 1012, + 102 + ], + "original_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + "d2a0481db3044dfbac40244bdbf9f9e1", + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ], + "refined_path": [ + "4b77e304d83943999198c3cd4457512c", + "36127c5e30e644799c0f1a1ecd4381ca", + "c6a181682e8f4c55b27287031ed7ddcd", + "8c973e0dd63e490db73c44ff6959854b", + "d2a0481db3044dfbac40244bdbf9f9e1", + "9a10d725e7334967a8ca89b2a61c446e", + [ + "d2a0481db3044dfbac40244bdbf9f9e1" + ], + "3678af49806f4220b821c23d4ec3d33b", + "0b302846f0994ec9851862b1d317d7f2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + [ + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_208_newN_0", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "15791b161c944d269ae3727bf19fc1a6", + "751a95287d8e487eac608776f5e3a546", + "f0307e707d50446097021ce802f44a4e", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_233_newN_0" + ] + }, + { + "episode_id": "AREQ43Q0T8ENT:336KAV9KYSVDE352G7B8P68Z16S2YO", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 1.18073, + -2.2887, + 0.51616 + ], + "start_rotation": [ + 0, + 0.98772, + 0, + 0.15626 + ], + "object_category": "table", + "info": { + "geodesic_distance": 13.40033, + "euclidean_distance": 12.08435, + "closest_goal_object_id": 351, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.83182, + -2.91559, + 11.96117 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e5bfa9c293cd44e1b14953500462dd72", + "path": [ + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "297c3ab529204fafb3ddf80e6efeec7f", + "0_edge_153_newN_1" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72", + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + "c3b46ef0552142a6b62a45cd30f26de8", + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + "de68d1221d1749b392aff06c48512cf0", + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "9a10d725e7334967a8ca89b2a61c446e", + "297c3ab529204fafb3ddf80e6efeec7f", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + "0_edge_153_newN_1" + ], + "refined_path": [ + "e5bfa9c293cd44e1b14953500462dd72", + "3264da900f47425c8c062f909db9abe0", + "04e0d7506a0849009fabf4c10fa74a40", + "a6ce5d580416478b847a83a2c537a637", + [ + "04e0d7506a0849009fabf4c10fa74a40", + "3264da900f47425c8c062f909db9abe0", + "e5bfa9c293cd44e1b14953500462dd72" + ], + "f3d9a22621e14992b8b3fb9776f0395b", + "a55a46bc13e743ca8626a97ac056b8f3", + "c3b46ef0552142a6b62a45cd30f26de8", + "0_edge_196_newN_0", + [ + "c3b46ef0552142a6b62a45cd30f26de8" + ], + "f0307e707d50446097021ce802f44a4e", + "751a95287d8e487eac608776f5e3a546", + "15791b161c944d269ae3727bf19fc1a6", + "d7ec37565be24b1ca1d4f99c34fc1632", + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + [ + "99fa48d974fa43988f369b0e5766b36e" + ], + "ef2bbeeb20aa4059bc79a9c3b7a45a1f", + [ + "99fa48d974fa43988f369b0e5766b36e", + "0_edge_208_newN_1", + "99fa48d974fa43988f369b0e5766b36e", + "d7ec37565be24b1ca1d4f99c34fc1632" + ], + "de68d1221d1749b392aff06c48512cf0", + "0_edge_208_newN_0", + [ + "de68d1221d1749b392aff06c48512cf0" + ], + "0_edge_181_newN_0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "980150b99a2946a0894c33df8fb616d2", + "0_edge_142_newN_0", + [ + "980150b99a2946a0894c33df8fb616d2", + "e5c5d8fa1ad94d97bcdb74e69e938ea0", + "0_edge_181_newN_1", + "e5c5d8fa1ad94d97bcdb74e69e938ea0" + ], + "0b302846f0994ec9851862b1d317d7f2", + "3678af49806f4220b821c23d4ec3d33b", + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0", + [ + "9a10d725e7334967a8ca89b2a61c446e" + ], + "297c3ab529204fafb3ddf80e6efeec7f", + [ + "9a10d725e7334967a8ca89b2a61c446e", + "0_edge_153_newN_0" + ], + "0_edge_153_newN_1" + ] + }, + { + "episode_id": "A2O65E9TOSX7GV:3PM8NZGV80J56HHDDMF72AZTCD9XQZ", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.8439, + 3.7313, + 7.36679 + ], + "start_rotation": [ + 0, + 0.50129, + 0, + 0.86528 + ], + "object_category": "chair", + "info": { + "geodesic_distance": 12.59203, + "euclidean_distance": 8.52679, + "closest_goal_object_id": 119, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -0.51319, + 0.68441, + -0.25931 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_chair", + "start_potision_viewpoint_id": "356a6494c8034d6d845f0bba28b8effb", + "path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "instruction": "Locate the chair.", + "instr_encoding": [ + 101, + 12453, + 1996, + 3242, + 1012, + 102 + ], + "original_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ], + "refined_path": [ + "356a6494c8034d6d845f0bba28b8effb", + "0f1ba9e425a0452eade2a180cfa41e32", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "483b844778c545d899860802e9c5c9d5", + [ + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb" + ], + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702" + ] + }, + { + "episode_id": "A3T5UAYFKJBVTA:3IRIK4HM3CNOT1NY7H5MISXSYFO6CH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -4.19888, + 0.08441, + 12.09045 + ], + "start_rotation": [ + 0, + 0.18244, + 0, + 0.98322 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 21.30669, + "euclidean_distance": 10.78679, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.37601, + 3.48441, + 3.40345 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "3aba2bf1310e4a10918e4a5bc51d1979", + "path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "0_edge_128_newN_0", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Go to the picture.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979", + "0_edge_128_newN_0", + "3aba2bf1310e4a10918e4a5bc51d1979", + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "3aba2bf1310e4a10918e4a5bc51d1979", + "80f652ffcdfa47ada388a00233624799", + "59d2f40b1fbf4784b2b661f05a439fad", + [ + "80f652ffcdfa47ada388a00233624799", + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "0_edge_128_newN_0", + [ + "3aba2bf1310e4a10918e4a5bc51d1979" + ], + "7d01dee740ef4288b111dc65f449ca22", + "a872e012dec3414a8624f6ebda4b752c", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "187589bb7d4644f2943079fb949c0be9", + "64565f72062245da87430cc31dd383d9", + "9167f8d20b954ccf97b09d33762cf4d5", + "76c9116d417849c6be0f37a8b353e0d8", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "4cac488dae6a442289ce32fd0b6a42fe", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "AOMFEAWQHU3D8:3WJEQKOXAA55T0P3HXXEH1GMPSWA19", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 0.16618, + 0.2145, + 3.8745 + ], + "start_rotation": [ + 0, + 0.87049, + 0, + -0.49219 + ], + "object_category": "bathtub", + "info": { + "geodesic_distance": 21.42587, + "euclidean_distance": 10.97462, + "closest_goal_object_id": 42, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -2.42768, + 3.49363, + 13.91911 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bathtub", + "start_potision_viewpoint_id": "74d5b2290be74a1ba052b6fe2320e064", + "path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "instruction": "Go to the bathtub.", + "instr_encoding": [ + 101, + 2175, + 2000, + 1996, + 7198, + 28251, + 1012, + 102 + ], + "original_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ], + "refined_path": [ + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984" + ], + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2", + "1144d00a8ebd417f8a0de419ea12c1e5", + "3adc93014dad46b6879d8d7b6922f02c", + "483b844778c545d899860802e9c5c9d5", + "9f604c054f8f4a0da5778d3c0b36575d" + ] + }, + { + "episode_id": "A3G3TIX6FEMN8R:3B3WTRP3DD5YD2XU8VJSQPF8SX229U", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.80644, + 0.08441, + 9.68335 + ], + "start_rotation": [ + 0, + 0.94429, + 0, + -0.32912 + ], + "object_category": "bed", + "info": { + "geodesic_distance": 22.60707, + "euclidean_distance": 5.92806, + "closest_goal_object_id": 7, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.47011, + 3.49756, + 6.11173 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_bed", + "start_potision_viewpoint_id": "0_edge_186_newN_0", + "path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "a6ce5d580416478b847a83a2c537a637", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "instruction": "Find the bed.", + "instr_encoding": [ + 101, + 2424, + 1996, + 2793, + 1012, + 102 + ], + "original_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "a6ce5d580416478b847a83a2c537a637", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ], + "refined_path": [ + "0_edge_186_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + [ + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "e3de486699144933aada2e59873d5984" + ], + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "0993008242df4171b26c1bf92ff5e845", + [ + "b0d9ca4f89d64be18df9a3b01cd82f4b", + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + [ + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9" + ], + "a6ce5d580416478b847a83a2c537a637", + [ + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064" + ], + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c", + "425e120b2d7742b1a8f0902355908761", + "2816e163791e4878804d6b7476b9dddd", + "c5f2bf41ad33497a925bead423cbfb19", + "b8196686626248beb76ea7c31e6e44e2" + ] + }, + { + "episode_id": "A2TUUIV61CR0C7:3SNVL38CI6VVSG8N9LZNSB2ACWFKCS", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -1.26427, + 0.68441, + -0.18564 + ], + "start_rotation": [ + 0, + 0.92302, + 0, + 0.38474 + ], + "object_category": "picture", + "info": { + "geodesic_distance": 6.9215, + "euclidean_distance": 5.21553, + "closest_goal_object_id": 190, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 1.28112, + 3.48441, + 3.40382 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_picture", + "start_potision_viewpoint_id": "8e1fa462cea64696aa723bbfbdb1b21e", + "path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "instruction": "Navigate to the picture.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3861, + 1012, + 102 + ], + "original_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + "e0f025c0baa94beba57ea499e3d846c5", + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ], + "refined_path": [ + "8e1fa462cea64696aa723bbfbdb1b21e", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e" + ], + "e0f025c0baa94beba57ea499e3d846c5", + "0_edge_131_newN_1", + [ + "e0f025c0baa94beba57ea499e3d846c5" + ], + "a3fe827d49db4f7caa076c313434d418", + "50476a17346a4879906f81b47b9418de", + "3b2ba223f6a445a6bf4561f1853e83c1", + "e60f96413bf448889377affdd919ba35", + "571d716b0cdd430d99c63474c34f0c9c" + ] + }, + { + "episode_id": "A3KC26Z78FBOJT:3PZDLQMM0VO0B04XKFTJSFGFFDI2CT", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + 3.06064, + 0.08441, + 6.77686 + ], + "start_rotation": [ + 0, + 0.94467, + 0, + -0.32803 + ], + "object_category": "table", + "info": { + "geodesic_distance": 2.8643, + "euclidean_distance": 2.6575, + "closest_goal_object_id": 253, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.55857, + 0.08441, + 6.55226 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_table", + "start_potision_viewpoint_id": "e3de486699144933aada2e59873d5984", + "path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "instruction": "Locate the table.", + "instr_encoding": [ + 101, + 12453, + 1996, + 2795, + 1012, + 102 + ], + "original_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ], + "refined_path": [ + "e3de486699144933aada2e59873d5984", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "0_edge_65_newN_0", + "0_edge_65_newN_1", + "7ce4382def52411ba706d50d2377447b", + "0_edge_195_newN_3", + [ + "7ce4382def52411ba706d50d2377447b", + "0_edge_65_newN_1", + "0_edge_65_newN_0", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "0_edge_190_newN_0", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "b42bdeacac9d4e8d9ac4bd4500a82a51" + ], + "0_edge_245_newN_1", + "8072791758d146aba5ff98920a81fa0c", + "9092fc23426942e1a94b66181a3d0fc7", + "ef277969af8e477495075389c3e06da6" + ] + }, + { + "episode_id": "AKYXQY5IP7S0Z:32SVAV9L3HC1333I41BX5UVK15V3AH", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -2.0127, + 3.48441, + 16.76034 + ], + "start_rotation": [ + 0, + 0.84933, + 0, + 0.52786 + ], + "object_category": "plant", + "info": { + "geodesic_distance": 19.88188, + "euclidean_distance": 17.87091, + "closest_goal_object_id": 151, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + 0.71937, + 0.68441, + -0.71551 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_plant", + "start_potision_viewpoint_id": "67d9b711455f43db8e5270016d4bd873", + "path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0" + ], + "instruction": "Navigate to the plant.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 3269, + 1012, + 102 + ], + "original_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "refined_path": [ + "67d9b711455f43db8e5270016d4bd873", + "9f604c054f8f4a0da5778d3c0b36575d", + "483b844778c545d899860802e9c5c9d5", + "14a8edbbe4b14a05b1b5782a884fb6bf", + "0f1ba9e425a0452eade2a180cfa41e32", + "356a6494c8034d6d845f0bba28b8effb", + "75bea3b92c924203951655b393e92979", + "2816e163791e4878804d6b7476b9dddd", + "425e120b2d7742b1a8f0902355908761", + "571d716b0cdd430d99c63474c34f0c9c", + "e60f96413bf448889377affdd919ba35", + "3b2ba223f6a445a6bf4561f1853e83c1", + "50476a17346a4879906f81b47b9418de", + "a3fe827d49db4f7caa076c313434d418", + "e0f025c0baa94beba57ea499e3d846c5", + "cd4f7bb78a8b469bac6deaea84e6f68c", + "ddb93f6063d54365bc6e8c751fd2e698", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ] + ] + }, + { + "episode_id": "A5WWHKD82I8UE:31EUONYN2X6AHGZ2YUMLPK78H2AVOF", + "scene_id": "mp3d/1LXtFkjw3qL/1LXtFkjw3qL.glb", + "start_position": [ + -0.74576, + 0.08441, + 16.54413 + ], + "start_rotation": [ + 0, + 0.90363, + 0, + 0.42831 + ], + "object_category": "stool", + "info": { + "geodesic_distance": 3.86439, + "euclidean_distance": 3.65781, + "closest_goal_object_id": 254, + "navigation_bounds": [ + [ + -7.62605, + -3.11559, + -4.36096 + ], + [ + 4.15602, + 10.20153, + 17.4473 + ] + ], + "best_viewpoint_position": [ + -3.06613, + 0.08441, + 13.70714 + ] + }, + "goals": [], + "goals_key": "1LXtFkjw3qL.glb_stool", + "start_potision_viewpoint_id": "ef277969af8e477495075389c3e06da6", + "path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "instruction": "Navigate to the stool.", + "instr_encoding": [ + 101, + 22149, + 2000, + 1996, + 14708, + 1012, + 102 + ], + "original_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + "707a59ada1bc4b4f90638ddfa809ebd5", + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + "6ab39d830183407cb7ec17206889000d", + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + "4cac488dae6a442289ce32fd0b6a42fe", + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + "95064dc2001c4f64b0ccc9ab9702e35e", + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ], + "refined_path": [ + "ef277969af8e477495075389c3e06da6", + "8d0cc65b2a484591a97b9a8282809f50", + "03a8325e3b054e3fad7e1e7091f9d283", + "c687ee4d80bc453d905d501b347675b8", + "b72841257cae4f829f8a68c30175ff07", + "0_edge_185_newN_0", + "649a58719cd7455ebe18675c9719dfa7", + "9092fc23426942e1a94b66181a3d0fc7", + "8072791758d146aba5ff98920a81fa0c", + "0_edge_245_newN_1", + "b42bdeacac9d4e8d9ac4bd4500a82a51", + "24df7bedfc814d7e9bd610171c862f7a", + "707a59ada1bc4b4f90638ddfa809ebd5", + "0_edge_190_newN_1", + [ + "707a59ada1bc4b4f90638ddfa809ebd5" + ], + "e3de486699144933aada2e59873d5984", + "6ecf3c792e5c48b4921e21fbb3aeff3c", + "6c15ae9a3fc24613b9fcedb3da80aee5", + [ + "6ecf3c792e5c48b4921e21fbb3aeff3c" + ], + "0_edge_234_newN_0", + "e8e2d73795e54b6db89cd32745e79fb9", + "74d5b2290be74a1ba052b6fe2320e064", + "541ab4e8ff1f4bc8bf20775a1fb38872", + "6ab39d830183407cb7ec17206889000d", + "0_edge_131_newN_0", + [ + "6ab39d830183407cb7ec17206889000d" + ], + "8e1fa462cea64696aa723bbfbdb1b21e", + "4cac488dae6a442289ce32fd0b6a42fe", + "0f7e0af0cb3b4c2abf62bba2fd955702", + [ + "4cac488dae6a442289ce32fd0b6a42fe" + ], + "95064dc2001c4f64b0ccc9ab9702e35e", + "0_edge_168_newN_0", + [ + "95064dc2001c4f64b0ccc9ab9702e35e" + ], + "76c9116d417849c6be0f37a8b353e0d8", + "9167f8d20b954ccf97b09d33762cf4d5", + "64565f72062245da87430cc31dd383d9", + "187589bb7d4644f2943079fb949c0be9", + "cc25797eeb974e54ae3f1fc30e0d19ef", + "3c8c9d438bdd4ebaad5a0d0e93a43c0f", + "a872e012dec3414a8624f6ebda4b752c", + "c238ad68f9b443a5b3fc41a4a561363f", + "c3fe2f1211cf4bce8458006b7f174010", + "0_edge_128_newN_1" + ] + } +] \ No newline at end of file